{"id":"https://openalex.org/W2099063080","doi":"https://doi.org/10.1109/etfa.2008.4638495","title":"3D-based monocular SLAM for mobile agents navigating in indoor environments","display_name":"3D-based monocular SLAM for mobile agents navigating in indoor environments","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2099063080","doi":"https://doi.org/10.1109/etfa.2008.4638495","mag":"2099063080"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2008.4638495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://ias.in.tum.de/_media/spezial/bib/pangercic08etfa.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020427508","display_name":"Dejan Pangercic","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dejan Pangercic","raw_affiliation_strings":["Tech. Univ. Munchen, Munich"],"affiliations":[{"raw_affiliation_string":"Tech. Univ. Munchen, Munich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Radu Bogdan Rusu","raw_affiliation_strings":["Tech. Univ. Munchen, Munich"],"affiliations":[{"raw_affiliation_string":"Tech. Univ. Munchen, Munich","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["Tech. Univ. Munchen, Munich"],"affiliations":[{"raw_affiliation_string":"Tech. Univ. Munchen, Munich","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.528,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":2,"citation_normalized_percentile":{"value":0.410392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":70,"max":74},"biblio":{"volume":null,"issue":null,"first_page":"839","last_page":"845"},"is_retracted":false,"is_paratext":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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9979,"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/monocular","display_name":"Monocular","score":0.58758426},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.56596416},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.46317035},{"id":"https://openalex.org/keywords/monochrome","display_name":"Monochrome","score":0.4295752}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.75784266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.74420255},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7038895},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.70272297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68513405},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.58758426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5790966},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.56596416},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49289036},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.47172135},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.46317035},{"id":"https://openalex.org/C2776754580","wikidata":"https://www.wikidata.org/wiki/Q10770146","display_name":"Monochrome","level":2,"score":0.4295752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28678232},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2008.4638495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.391.6912","pdf_url":"http://ias.in.tum.de/_media/spezial/bib/pangercic08etfa.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.391.6912","pdf_url":"http://ias.in.tum.de/_media/spezial/bib/pangercic08etfa.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":17,"referenced_works":["https://openalex.org/W1643815198","https://openalex.org/W1677409904","https://openalex.org/W2105286257","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2115286699","https://openalex.org/W2116274772","https://openalex.org/W2130103520","https://openalex.org/W2138294682","https://openalex.org/W2142326524","https://openalex.org/W2146881125","https://openalex.org/W2149582182","https://openalex.org/W2152671441","https://openalex.org/W2177165271","https://openalex.org/W2296147781","https://openalex.org/W2336416123","https://openalex.org/W2803398684"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2980723633","https://openalex.org/W2125871801","https://openalex.org/W2123849027","https://openalex.org/W2120540633","https://openalex.org/W2084124712","https://openalex.org/W2014639021","https://openalex.org/W1976194731","https://openalex.org/W1585960250"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,21,41,85,89,97],"novel":[4],"algorithm":[5,107],"for":[6,76,115],"3D":[7,64],"depth":[8,18],"estimation":[9],"using":[10,70],"particle":[12,16],"filter":[13,17,74],"(PFDE":[14],"-":[15],"estimation)":[19],"in":[20,50,58,109],"monocular":[22],"vSLAM":[23],"(visual":[24],"simultaneous":[25],"localization":[26],"and":[27,45,55,96,111],"mapping)":[28],"framework.":[29],"We":[30],"present":[31],"our":[32,51],"implementation":[33],"on":[34],"an":[35,71],"omnidirectional":[36],"mobile":[37],"robot":[38],"equipped":[39],"with":[40],"single":[42],"monochrome":[43],"camera":[44],"discuss":[46],"experimental":[47],"results":[48],"obtained":[49],"Assistive":[52],"Kitchen":[53],"project":[54],"its":[56],"potential":[57],"the":[59],"Cognitive":[60],"Factory":[61],"project.":[62],"A":[63,79],"spatial":[65],"feature":[66,94],"map":[67],"is":[68,104],"built":[69],"extended":[72],"Kalman":[73],"state-estimator":[75],"navigation":[77],"use.":[78],"new":[80],"measurement":[81],"model":[82],"consisting":[83],"of":[84,92],"unique":[86],"combination":[87],"between":[88],"ROI":[90],"(region":[91],"interest)":[93],"detector":[95],"ZNSSD":[98],"(zero-mean":[99],"normalized":[100],"sum-of-squared":[101],"differences)":[102],"descriptor":[103],"presented.":[105],"The":[106],"runs":[108],"realtime":[110],"can":[112],"build":[113],"maps":[114],"table-size":[116],"volumes.":[117]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2099063080","counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-04-19T02:30:58.964238","created_date":"2016-06-24"}