{"id":"https://openalex.org/W2889436533","doi":"https://doi.org/10.3390/s18092837","title":"Lightweight Visual Odometry for Autonomous Mobile Robots","display_name":"Lightweight Visual Odometry for Autonomous Mobile Robots","publication_year":2018,"publication_date":"2018-08-28","ids":{"openalex":"https://openalex.org/W2889436533","doi":"https://doi.org/10.3390/s18092837","mag":"2889436533","pmid":"https://pubmed.ncbi.nlm.nih.gov/30154311"},"language":"en","primary_location":{"id":"doi:10.3390/s18092837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18092837","pdf_url":"https://www.mdpi.com/1424-8220/18/9/2837/pdf?version=1535434825","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/1424-8220/18/9/2837/pdf?version=1535434825","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029230674","display_name":"Mohamed Aladem","orcid":"https://orcid.org/0000-0002-4031-3584"},"institutions":[{"id":"https://openalex.org/I4210130704","display_name":"University of Michigan\u2013Dearborn","ror":"https://ror.org/035wtm547","country_code":"US","type":"education","lineage":["https://openalex.org/I4210130704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Aladem","raw_affiliation_strings":["College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA"],"raw_orcid":"https://orcid.org/0000-0002-4031-3584","affiliations":[{"raw_affiliation_string":"College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA","institution_ids":["https://openalex.org/I4210130704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074948543","display_name":"Samir A. Rawashdeh","orcid":"https://orcid.org/0000-0002-3473-6978"},"institutions":[{"id":"https://openalex.org/I4210130704","display_name":"University of Michigan\u2013Dearborn","ror":"https://ror.org/035wtm547","country_code":"US","type":"education","lineage":["https://openalex.org/I4210130704"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samir A. Rawashdeh","raw_affiliation_strings":["College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA"],"raw_orcid":"https://orcid.org/0000-0002-3473-6978","affiliations":[{"raw_affiliation_string":"College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA","institution_ids":["https://openalex.org/I4210130704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074948543"],"corresponding_institution_ids":["https://openalex.org/I4210130704"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":50.5221,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99638274,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"18","issue":"9","first_page":"2837","last_page":"2837"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7990818023681641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7549393177032471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7429558634757996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6912457942962646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6267026662826538},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5715620517730713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5456072688102722},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5402725338935852},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5191397070884705},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5001792907714844},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4696689546108246},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.45795688033103943},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43304723501205444}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7990818023681641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7549393177032471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7429558634757996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6912457942962646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6267026662826538},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5715620517730713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5456072688102722},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5402725338935852},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5191397070884705},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5001792907714844},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4696689546108246},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.45795688033103943},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43304723501205444},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s18092837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18092837","pdf_url":"https://www.mdpi.com/1424-8220/18/9/2837/pdf?version=1535434825","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:30154311","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30154311","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:doaj.org/article:81ba5a3fae9d418aaebe9351190a220e","is_oa":true,"landing_page_url":"https://doaj.org/article/81ba5a3fae9d418aaebe9351190a220e","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 18, Iss 9, p 2837 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5127006","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6165120","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/9/2837/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s18092837","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6165120","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6165120","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/s18092837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18092837","pdf_url":"https://www.mdpi.com/1424-8220/18/9/2837/pdf?version=1535434825","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332921","display_name":"University of Michigan-Dearborn","ror":"https://ror.org/035wtm547"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2889436533.pdf","grobid_xml":"https://content.openalex.org/works/W2889436533.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1596812151","https://openalex.org/W1612997784","https://openalex.org/W1987648924","https://openalex.org/W2012319351","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2097197771","https://openalex.org/W2113243634","https://openalex.org/W2117228865","https://openalex.org/W2122015342","https://openalex.org/W2124313187","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2160823029","https://openalex.org/W2168676389","https://openalex.org/W2396274919","https://openalex.org/W2509493982","https://openalex.org/W2606894526","https://openalex.org/W2758772066","https://openalex.org/W3103648783","https://openalex.org/W4250666038","https://openalex.org/W6677830229","https://openalex.org/W6697503656"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710","https://openalex.org/W208888162"],"abstract_inverted_index":{"Vision-based":[0],"motion":[1],"estimation":[2,32],"is":[3,12,79,92],"an":[4],"effective":[5],"means":[6],"for":[7,20,122],"mobile":[8],"robot":[9],"localization":[10],"and":[11,22,62,90,105],"often":[13],"used":[14],"in":[15,65,72,99],"conjunction":[16],"with":[17,127],"other":[18,95],"sensors":[19],"navigation":[21],"path":[23],"planning.":[24],"This":[25,108],"paper":[26,109],"presents":[27],"a":[28,39,53,118],"low-overhead":[29],"real-time":[30],"ego-motion":[31],"(visual":[33],"odometry)":[34],"system":[35],"based":[36],"on":[37,81],"either":[38],"stereo":[40],"or":[41],"RGB-D":[42],"sensor.":[43],"The":[44,77],"algorithm's":[45],"accuracy":[46],"outperforms":[47],"typical":[48],"frame-to-frame":[49],"approaches":[50],"by":[51],"maintaining":[52],"limited":[54],"local":[55],"map,":[56],"while":[57],"requiring":[58],"significantly":[59],"less":[60],"memory":[61,106],"computational":[63],"power":[64],"contrast":[66],"to":[67,94],"using":[68],"global":[69],"maps":[70],"common":[71,82],"full":[73],"visual":[74],"SLAM":[75],"methods.":[76],"algorithm":[78],"evaluated":[80],"publicly":[83],"available":[84],"datasets":[85],"that":[86],"span":[87],"different":[88],"use-cases":[89],"performance":[91],"compared":[93],"comparable":[96],"open-source":[97],"systems":[98],"terms":[100],"of":[101,113],"accuracy,":[102],"frame":[103],"rate":[104],"requirements.":[107],"accompanies":[110],"the":[111,114,123,128],"release":[112],"source":[115],"code":[116],"as":[117],"modular":[119],"software":[120],"package":[121],"robotics":[124],"community":[125],"compatible":[126],"Robot":[129],"Operating":[130],"System":[131],"(ROS).":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}