{"id":"https://openalex.org/W2164663224","doi":"https://doi.org/10.1109/iros.2011.6094788","title":"An embedded stereo vision module for 6D pose estimation and mapping","display_name":"An embedded stereo vision module for 6D pose estimation and mapping","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2164663224","doi":"https://doi.org/10.1109/iros.2011.6094788","mag":"2164663224"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094788","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109335933","display_name":"G. Spampinato","orcid":null},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"G. Spampinato","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111955746","display_name":"J\u00f6rgen Lidholm","orcid":null},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"J. Lidholm","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024375431","display_name":"Carl Ahlberg","orcid":"https://orcid.org/0000-0003-4907-9816"},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"C. Ahlberg","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031911991","display_name":"Fredrik Ekstrand","orcid":null},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"F. Ekstrand","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017671408","display_name":"Mikael Ekstr\u00f6m","orcid":"https://orcid.org/0000-0002-5832-5452"},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"M. Ekstrom","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109064380","display_name":"Lars Asplund","orcid":null},"institutions":[{"id":"https://openalex.org/I82509713","display_name":"M\u00e4lardalen University","ror":"https://ror.org/033vfbz75","country_code":"SE","type":"funder","lineage":["https://openalex.org/I82509713"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"L. Asplund","raw_affiliation_strings":["School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Innovation, Design and Engineering, M\u00e4lardalen University, Sweden","institution_ids":["https://openalex.org/I82509713"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.973,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.808975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":85,"max":86},"biblio":{"volume":null,"issue":null,"first_page":"1626","last_page":"1631"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9999,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988,"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":0.8795746},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7247647},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.52308345},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine Vision","score":0.44834983}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8795746},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.80934775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7903191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7276244},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7247647},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6659823},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.61993444},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6142754},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.52308345},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5161499},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.44834983},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.42389348},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41743428},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35598892},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32521975},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.27745712},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.22369704},{"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":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094788","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":6,"referenced_works":["https://openalex.org/W2109635530","https://openalex.org/W2111308925","https://openalex.org/W2113560487","https://openalex.org/W2117252135","https://openalex.org/W2152568457","https://openalex.org/W2165053603"],"related_works":["https://openalex.org/W87609089","https://openalex.org/W4312703710","https://openalex.org/W3161199934","https://openalex.org/W3105866016","https://openalex.org/W3024737167","https://openalex.org/W2979950214","https://openalex.org/W2414561716","https://openalex.org/W2412578866","https://openalex.org/W2312326526","https://openalex.org/W2303855011"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,29],"embedded":[4],"vision":[5],"system":[6,50,71],"based":[7,31],"on":[8],"reconfigurable":[9],"hardware":[10],"(FPGA)":[11],"and":[12,21,34,74,78],"two":[13],"CMOS":[14],"cameras":[15],"to":[16,38,76],"perform":[17],"stereo":[18],"image":[19],"processing":[20],"3D":[22],"mapping":[23],"for":[24],"autonomous":[25],"navigation.":[26],"We":[27],"propose":[28],"EKF":[30],"visual":[32,62],"SLAM":[33],"sparse":[35],"feature":[36],"detectors":[37],"achieve":[39],"6D":[40],"localization":[41],"of":[42,54],"the":[43,55,59,69],"vehicle":[44,60],"in":[45],"non":[46],"flat":[47],"scenarios.":[48],"The":[49],"can":[51],"operate":[52],"regardless":[53],"odometry":[56,63],"information":[57],"from":[58],"since":[61],"is":[64,72],"used.":[65],"As":[66],"a":[67],"result,":[68],"final":[70],"compact":[73],"easy":[75],"install":[77],"configure.":[79]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2164663224","counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-04-15T23:35:03.936617","created_date":"2016-06-24"}