{"id":"https://openalex.org/W4293206859","doi":"https://doi.org/10.3390/s22176394","title":"Stereovision-Based Ego-Motion Estimation for Combine Harvesters","display_name":"Stereovision-Based Ego-Motion Estimation for Combine Harvesters","publication_year":2022,"publication_date":"2022-08-25","ids":{"openalex":"https://openalex.org/W4293206859","doi":"https://doi.org/10.3390/s22176394","pmid":"https://pubmed.ncbi.nlm.nih.gov/36080853"},"language":"en","primary_location":{"id":"doi:10.3390/s22176394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22176394","pdf_url":"https://www.mdpi.com/1424-8220/22/17/6394/pdf?version=1661413412","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/1424-8220/22/17/6394/pdf?version=1661413412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073174012","display_name":"Haiwen Chen","orcid":"https://orcid.org/0000-0002-6470-3464"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiwen Chen","raw_affiliation_strings":["Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":"https://orcid.org/0000-0002-6470-3464","affiliations":[{"raw_affiliation_string":"Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089564180","display_name":"Jin Chen","orcid":"https://orcid.org/0000-0002-6497-4141"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jin Chen","raw_affiliation_strings":["Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019629751","display_name":"Zhuohuai Guan","orcid":"https://orcid.org/0000-0002-6931-4345"},"institutions":[{"id":"https://openalex.org/I4210166367","display_name":"Nanjing Institute of Agricultural Mechanization","ror":"https://ror.org/05xgaq910","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210127390","https://openalex.org/I4210151987","https://openalex.org/I4210166367"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuohuai Guan","raw_affiliation_strings":["Nanjing Research Institute for Agricultural Mechanization, Ministry of Agriculture, Nanjing 210014, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Research Institute for Agricultural Mechanization, Ministry of Agriculture, Nanjing 210014, China","institution_ids":["https://openalex.org/I4210166367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103060813","display_name":"Yaoming Li","orcid":"https://orcid.org/0000-0003-1297-9458"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoming Li","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101761690","display_name":"Kai Cheng","orcid":"https://orcid.org/0000-0002-6260-071X"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Cheng","raw_affiliation_strings":["Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering School, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067255992","display_name":"Zhihong Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Cui","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5089564180"],"corresponding_institution_ids":["https://openalex.org/I115592961"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.4588,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94497447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"22","issue":"17","first_page":"6394","last_page":"6394"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8206226825714111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7906515598297119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6851855516433716},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.6718224287033081},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.46940338611602783},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4641633629798889},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44244828820228577},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10223737359046936}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8206226825714111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7906515598297119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6851855516433716},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.6718224287033081},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.46940338611602783},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4641633629798889},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44244828820228577},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10223737359046936}],"mesh":[{"descriptor_ui":"D004532","descriptor_name":"Ego","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004532","descriptor_name":"Ego","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004532","descriptor_name":"Ego","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22176394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22176394","pdf_url":"https://www.mdpi.com/1424-8220/22/17/6394/pdf?version=1661413412","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:36080853","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36080853","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:f83127f9c7324f4f8c964b0a26280567","is_oa":true,"landing_page_url":"https://doaj.org/article/f83127f9c7324f4f8c964b0a26280567","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 22, Iss 17, p 6394 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/17/6394/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22176394","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; Volume 22; Issue 17; Pages: 6394","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9460537","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9460537","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/s22176394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22176394","pdf_url":"https://www.mdpi.com/1424-8220/22/17/6394/pdf?version=1661413412","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":[{"id":"https://openalex.org/G1536966536","display_name":null,"funder_award_id":"MAET202106","funder_id":"https://openalex.org/F4320321410","funder_display_name":"Jiangsu University"},{"id":"https://openalex.org/G8057563194","display_name":null,"funder_award_id":"BK20210040","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8961426388","display_name":null,"funder_award_id":"21KJB470018","funder_id":"https://openalex.org/F4320335440","funder_display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China"}],"funders":[{"id":"https://openalex.org/F4320321410","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335440","display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4293206859.pdf","grobid_xml":"https://content.openalex.org/works/W4293206859.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1596812151","https://openalex.org/W1677409904","https://openalex.org/W1980148204","https://openalex.org/W1982165822","https://openalex.org/W1989174032","https://openalex.org/W1991544872","https://openalex.org/W1993693807","https://openalex.org/W1993825942","https://openalex.org/W1995266040","https://openalex.org/W2021851106","https://openalex.org/W2029032131","https://openalex.org/W2048269893","https://openalex.org/W2061589906","https://openalex.org/W2067957288","https://openalex.org/W2117228865","https://openalex.org/W2124321582","https://openalex.org/W2124386111","https://openalex.org/W2125529695","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2154280780","https://openalex.org/W2167667767","https://openalex.org/W2202897526","https://openalex.org/W2292299626","https://openalex.org/W2535547924","https://openalex.org/W2775314672","https://openalex.org/W2925545108","https://openalex.org/W2938050580","https://openalex.org/W3102327032","https://openalex.org/W4243493583","https://openalex.org/W6756486208","https://openalex.org/W6824780776"],"related_works":["https://openalex.org/W2566318300","https://openalex.org/W2997897143","https://openalex.org/W2687972263","https://openalex.org/W3098467253","https://openalex.org/W2129348295","https://openalex.org/W2029249305","https://openalex.org/W3045813744","https://openalex.org/W2811184430","https://openalex.org/W3193318905","https://openalex.org/W2082682917"],"abstract_inverted_index":{"Ego-motion":[0],"estimation":[1,118,174],"is":[2,62,80,169],"a":[3,21,29,33,44,95,103,113],"foundational":[4],"capability":[5],"for":[6,24,171,175],"autonomous":[7],"combine":[8,30,176],"harvesters,":[9],"supporting":[10],"high-level":[11],"functions":[12],"such":[13],"as":[14],"navigation":[15],"and":[16,88,122,147],"harvesting.":[17],"This":[18],"paper":[19],"presents":[20],"novel":[22],"approach":[23],"estimating":[25,145],"the":[26,66,73,126,163],"motion":[27,61,89],"of":[28,35,46,57,69,125,144],"harvester":[31],"from":[32,52],"sequence":[34],"stereo":[36,114],"images.":[37],"The":[38,150],"proposed":[39,156],"method":[40,111],"starts":[41],"with":[42],"tracking":[43],"set":[45],"3D":[47],"landmarks":[48,71],"which":[49,116,168],"are":[50,100],"triangulated":[51],"stereo-matched":[53],"features.":[54],"Six":[55],"Degree":[56],"Freedom":[58],"(DoF)":[59],"ego":[60],"obtained":[63],"by":[64],"minimizing":[65],"reprojection":[67],"error":[68],"those":[70],"on":[72,132],"current":[74],"frame.":[75],"Then,":[76],"local":[77],"bundle":[78],"adjustment":[79],"performed":[81,131],"to":[82,106],"refine":[83],"structure":[84],"(i.e.,":[85,90],"landmark":[86],"positions)":[87],"keyframe":[91],"poses)":[92],"jointly":[93],"in":[94,142],"sliding":[96],"window.":[97],"Both":[98],"processes":[99],"encapsulated":[101],"into":[102],"two-threaded":[104],"architecture":[105],"achieve":[107],"real-time":[108,148],"performance.":[109,149],"Our":[110],"utilizes":[112],"camera,":[115],"enables":[117],"at":[119,165],"true":[120],"scale":[121],"easy":[123],"startup":[124],"system.":[127],"Quantitative":[128],"tests":[129],"were":[130],"real":[133],"agricultural":[134],"scene":[135],"data,":[136],"comprising":[137],"several":[138],"different":[139],"working":[140],"paths,":[141],"terms":[143],"accuracy":[146],"experimental":[151],"results":[152],"demonstrated":[153],"that":[154],"our":[155],"perception":[157],"system":[158],"achieved":[159],"favorable":[160],"accuracy,":[161],"outputting":[162],"pose":[164],"10":[166],"Hz,":[167],"sufficient":[170],"online":[172],"ego-motion":[173],"harvesters.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}