{"id":"https://openalex.org/W2159287772","doi":"https://doi.org/10.3390/s100404159","title":"Non-Linearity Analysis of Depth and Angular Indexes for Optimal Stereo SLAM","display_name":"Non-Linearity Analysis of Depth and Angular Indexes for Optimal Stereo SLAM","publication_year":2010,"publication_date":"2010-04-26","ids":{"openalex":"https://openalex.org/W2159287772","doi":"https://doi.org/10.3390/s100404159","mag":"2159287772","pmid":"https://pubmed.ncbi.nlm.nih.gov/22319348"},"language":"en","primary_location":{"id":"doi:10.3390/s100404159","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s100404159","pdf_url":"https://www.mdpi.com/1424-8220/10/4/4159/pdf?version=1403312408","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/10/4/4159/pdf?version=1403312408","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Luis M. Bergasa","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pablo F. Alcantarilla","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089783079","display_name":"David Schleicher","orcid":null},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Schleicher","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5077780013"],"corresponding_institution_ids":["https://openalex.org/I189268942"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":10.8203,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98531361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"4159","last_page":"4179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8062620162963867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7610558271408081},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6856594681739807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6429721117019653},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.594603419303894},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5763338208198547},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.5708218216896057},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.499969482421875},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.4545842409133911},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.449577659368515},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.43965691328048706},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2556304633617401},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.149885356426239},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08992528915405273}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8062620162963867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7610558271408081},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6856594681739807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6429721117019653},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.594603419303894},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5763338208198547},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.5708218216896057},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.499969482421875},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.4545842409133911},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.449577659368515},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.43965691328048706},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2556304633617401},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.149885356426239},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08992528915405273},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s100404159","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s100404159","pdf_url":"https://www.mdpi.com/1424-8220/10/4/4159/pdf?version=1403312408","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:22319348","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/22319348","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:ebuah.uah.es:10017/43550","is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/43550","pdf_url":"https://ebuah.uah.es/dspace/bitstream/10017/43550/1/NonLinearity_Bergasa_Sensors_2010.pdf","source":{"id":"https://openalex.org/S7407055200","display_name":"e_Buah","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:d0a14e6a1dd14408a77844d76e338a33","is_oa":true,"landing_page_url":"https://doaj.org/article/d0a14e6a1dd14408a77844d76e338a33","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 10, Iss 4, Pp 4159-4179 (2010)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:3274267","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3274267","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s100404159","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s100404159","pdf_url":"https://www.mdpi.com/1424-8220/10/4/4159/pdf?version=1403312408","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2159287772.pdf","grobid_xml":"https://content.openalex.org/works/W2159287772.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W21877","https://openalex.org/W14424882","https://openalex.org/W1533496907","https://openalex.org/W1995985000","https://openalex.org/W2003686283","https://openalex.org/W2057791985","https://openalex.org/W2057978450","https://openalex.org/W2060922083","https://openalex.org/W2097457395","https://openalex.org/W2101648351","https://openalex.org/W2103357324","https://openalex.org/W2106624428","https://openalex.org/W2107796986","https://openalex.org/W2111308925","https://openalex.org/W2116600804","https://openalex.org/W2116951336","https://openalex.org/W2118428504","https://openalex.org/W2124313187","https://openalex.org/W2129900221","https://openalex.org/W2137052305","https://openalex.org/W2143062563","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2160749110","https://openalex.org/W2160851520","https://openalex.org/W2162536300","https://openalex.org/W2168560624","https://openalex.org/W2255861001","https://openalex.org/W2293047233","https://openalex.org/W6675400238","https://openalex.org/W6676770471","https://openalex.org/W6679636970","https://openalex.org/W6696855976"],"related_works":["https://openalex.org/W3014902869","https://openalex.org/W812480148","https://openalex.org/W2015421583","https://openalex.org/W2034432135","https://openalex.org/W1484049743","https://openalex.org/W2106933740","https://openalex.org/W2250718577","https://openalex.org/W307265996","https://openalex.org/W2101759163","https://openalex.org/W2040966513"],"abstract_inverted_index":{"In":[0,191],"this":[1],"article,":[2],"we":[3],"present":[4,41],"a":[5,15,31,45,120,140,197],"real-time":[6],"6DoF":[7],"egomotion":[8],"estimation":[9],"system":[10,47,151],"for":[11,44,128],"indoor":[12,211],"environments":[13,212],"using":[14,184],"wide-angle":[16],"stereo":[17,24,145,189],"camera":[18,25],"as":[19,112,155,157],"the":[20,42,51,54,99,107,144,161,166,170,176,179,185,188,203],"only":[21],"sensor.":[22,146],"The":[23],"is":[26,126,135,174,182,200],"carried":[27],"in":[28,90],"hand":[29],"by":[30,57,137],"person":[32],"walking":[33,36],"at":[34,98],"normal":[35,177,204],"speeds":[37],"3-5":[38],"km/h.":[39],"We":[40],"basis":[43],"vision-based":[46],"that":[48],"would":[49],"assist":[50],"navigation":[52],"of":[53,83,139,143,149,178,187],"visually":[55],"impaired":[56],"either":[58],"providing":[59],"information":[60,97,186],"about":[61,160],"their":[62,71],"current":[63],"position":[64],"and":[65,88,95,109,133,213],"orientation":[66,94],"or":[67,114],"guiding":[68],"them":[69],"to":[70,92,164,193],"destination":[72],"through":[73],"different":[74,81],"sensing":[75],"modalities.":[76],"Our":[77],"sensor":[78],"combines":[79],"two":[80],"types":[82],"feature":[84],"parametrization:":[85],"inverse":[86,115],"depth":[87,96,116,121,124,167],"3D":[89,113],"order":[91,192],"provide":[93],"same":[100],"time.":[101],"Natural":[102],"landmarks":[103],"are":[104,110,153,215],"extracted":[105],"from":[106],"image":[108],"stored":[111],"points,":[117],"depending":[118],"on":[119],"threshold.":[122,168],"This":[123],"threshold":[125],"used":[127],"switching":[129],"between":[130],"both":[131],"parametrizations":[132],"it":[134],"computed":[136,183],"means":[138],"non-linearity":[141],"analysis":[142,159],"Main":[147],"steps":[148],"our":[150],"approach":[152],"presented":[154],"well":[156],"an":[158],"optimal":[162],"way":[163],"calculate":[165],"At":[169],"moment":[171],"each":[172],"landmark":[173],"initialized,":[175],"patch":[180,198],"surface":[181],"pair.":[190],"improve":[194],"long-term":[195],"tracking,":[196],"warping":[199],"done":[201],"considering":[202],"vector":[205],"information.":[206],"Some":[207],"experimental":[208],"results":[209],"under":[210],"conclusions":[214],"presented.":[216]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}