{"id":"https://openalex.org/W4307940669","doi":"https://doi.org/10.3390/rs14215447","title":"Ceiling-View Semi-Direct Monocular Visual Odometry with Planar Constraint","display_name":"Ceiling-View Semi-Direct Monocular Visual Odometry with Planar Constraint","publication_year":2022,"publication_date":"2022-10-29","ids":{"openalex":"https://openalex.org/W4307940669","doi":"https://doi.org/10.3390/rs14215447"},"language":"en","primary_location":{"id":"doi:10.3390/rs14215447","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14215447","pdf_url":"https://www.mdpi.com/2072-4292/14/21/5447/pdf?version=1667884479","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/14/21/5447/pdf?version=1667884479","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023801460","display_name":"Yishen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yishen Wang","raw_affiliation_strings":["College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China"],"affiliations":[{"raw_affiliation_string":"College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040425424","display_name":"Shaoming Zhang","orcid":"https://orcid.org/0000-0001-8040-3894"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoming Zhang","raw_affiliation_strings":["College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China"],"affiliations":[{"raw_affiliation_string":"College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101469332","display_name":"Jianmei Wang","orcid":"https://orcid.org/0000-0003-2811-4344"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianmei Wang","raw_affiliation_strings":["College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China"],"affiliations":[{"raw_affiliation_string":"College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101469332"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.8477,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87017288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"14","issue":"21","first_page":"5447","last_page":"5447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8041466474533081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7730564475059509},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7716692686080933},{"id":"https://openalex.org/keywords/ceiling","display_name":"Ceiling (cloud)","score":0.7688460946083069},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.747776448726654},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7235449552536011},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4834478795528412},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4643773138523102},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.44370776414871216},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.4400232136249542},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.42745763063430786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3699570596218109},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16331899166107178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08664745092391968}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8041466474533081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7730564475059509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7716692686080933},{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.7688460946083069},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.747776448726654},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7235449552536011},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4834478795528412},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4643773138523102},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.44370776414871216},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.4400232136249542},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.42745763063430786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3699570596218109},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16331899166107178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08664745092391968},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs14215447","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14215447","pdf_url":"https://www.mdpi.com/2072-4292/14/21/5447/pdf?version=1667884479","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:67f9b9cf8a824941a2714a83241c60b6","is_oa":true,"landing_page_url":"https://doaj.org/article/67f9b9cf8a824941a2714a83241c60b6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 21, p 5447 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/21/5447/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14215447","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 14; Issue 21; Pages: 5447","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14215447","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14215447","pdf_url":"https://www.mdpi.com/2072-4292/14/21/5447/pdf?version=1667884479","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4307940669.pdf","grobid_xml":"https://content.openalex.org/works/W4307940669.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1198238685","https://openalex.org/W1539282749","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1979460370","https://openalex.org/W1998058414","https://openalex.org/W2033819227","https://openalex.org/W2043630212","https://openalex.org/W2057488855","https://openalex.org/W2088888418","https://openalex.org/W2100926086","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2127578024","https://openalex.org/W2127600839","https://openalex.org/W2131873102","https://openalex.org/W2161149823","https://openalex.org/W2166132830","https://openalex.org/W2296476661","https://openalex.org/W2418849765","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2565472677","https://openalex.org/W2738596250","https://openalex.org/W2796916234","https://openalex.org/W2889958683","https://openalex.org/W2909908358","https://openalex.org/W2963200201","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3142260960","https://openalex.org/W6681027729"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"When":[0],"the":[1,22,26,41,44,52,72,77,102,106,112,121,131,135,148,153,166,172,177,190,198],"SLAM":[2,174],"algorithm":[3],"is":[4],"used":[5],"to":[6,109,145,152],"provide":[7],"positioning":[8],"services":[9],"for":[10,157,165,170],"a":[11,34,57,87,94,142,163],"robot":[12,42],"in":[13,86,141,189],"an":[14,29,125,182],"indoor":[15,53],"scene,":[16],"dynamic":[17,48],"obstacles":[18],"can":[19,39],"interfere":[20],"with":[21,90,105],"robot\u2019s":[23],"observation.":[24],"Observing":[25],"ceiling":[27,88,97,122,158,191],"using":[28],"upward-looking":[30],"camera":[31,116],"that":[32,63],"has":[33],"stable":[35],"field":[36],"of":[37,76,96,155],"view":[38],"help":[40],"avoid":[43],"disturbance":[45],"created":[46],"by":[47],"obstacles.":[49],"Aiming":[50],"at":[51],"environment,":[54,192],"we":[55,99,160,186],"propose":[56],"new":[58],"ceiling-view":[59,167],"visual":[60,168,200],"odometry":[61,169,201],"method":[62,80,104,175,194],"introduces":[64],"plane":[65,123],"constraints":[66,75],"as":[67,124],"additional":[68,126],"conditions.":[69],"By":[70],"exploiting":[71],"coplanar":[73,107],"structural":[74],"features,":[78],"our":[79,193],"achieves":[81],"better":[82,196],"accuracy":[83],"and":[84,118,134],"stability":[85],"scene":[89,184],"repeated":[91],"texture.":[92],"Given":[93],"series":[95],"images,":[98],"first":[100],"use":[101],"semi-direct":[103],"constraint":[108,137],"preliminarily":[110],"calculate":[111],"relative":[113],"pose":[114],"between":[115],"frames":[117],"then":[119],"exploit":[120],"constraint.":[127],"In":[128],"this":[129],"step,":[130],"photometric":[132],"error":[133],"geometric":[136],"are":[138],"both":[139],"optimized":[140],"sliding":[143],"window":[144],"further":[146],"improve":[147],"trajectory":[149],"accuracy.":[150],"Due":[151],"lack":[154],"datasets":[156],"scenes,":[159],"also":[161],"present":[162],"dataset":[164],"which":[171],"LiDAR-Inertial":[173],"provides":[176],"ground":[178],"truth.":[179],"Finally,":[180],"through":[181],"actual":[183],"test,":[185],"verify":[187],"that,":[188],"performs":[195],"than":[197],"existing":[199],"approach.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}