BirdSLAM: Monocular Multibody SLAM in Bird’s-eye View Article Swipe
Swapnil Daga
,
Gokul B. Nair
,
Anirudha Ramesh
,
Rahul Sajnani
,
Junaid Ansari
,
K. Madhava Krishna
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.5220/0010199907110721
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.5220/0010199907110721
In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other monocular SLAM systems (such as scale ambiguity in monocular reconstruction, dynamic object localization, and uncertainty in feature representation) by using an orthographic (bird's-eye) view as the configuration space in which localization and mapping are performed. By assuming only the height of the ego-camera above the ground, BirdSLAM leverages single-view metrology cues to accurately localize the ego-vehicle and all other traffic participants in bird's-eye view. We demonstrate that our system outperforms prior work that uses strictly greater information, and highlight the relevance of each design decision via an ablation analysis.
Related Topics
Concepts
Computer vision
Artificial intelligence
Simultaneous localization and mapping
Ambiguity
Monocular
Computer science
Feature (linguistics)
Representation (politics)
Robot
Mobile robot
Programming language
Linguistics
Philosophy
Politics
Political science
Law
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.5220/0010199907110721
- OA Status
- gold
- References
- 31
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3098866736
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3098866736Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.5220/0010199907110721Digital Object Identifier
- Title
-
BirdSLAM: Monocular Multibody SLAM in Bird’s-eye ViewWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-01-01Full publication date if available
- Authors
-
Swapnil Daga, Gokul B. Nair, Anirudha Ramesh, Rahul Sajnani, Junaid Ansari, K. Madhava KrishnaList of authors in order
- Landing page
-
https://doi.org/10.5220/0010199907110721Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.5220/0010199907110721Direct OA link when available
- Concepts
-
Computer vision, Artificial intelligence, Simultaneous localization and mapping, Ambiguity, Monocular, Computer science, Feature (linguistics), Representation (politics), Robot, Mobile robot, Programming language, Linguistics, Philosophy, Politics, Political science, LawTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
31Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W3098866736 |
|---|---|
| doi | https://doi.org/10.5220/0010199907110721 |
| ids.doi | https://doi.org/10.48550/arxiv.2011.07613 |
| ids.mag | 3098866736 |
| ids.openalex | https://openalex.org/W3098866736 |
| fwci | |
| type | preprint |
| title | BirdSLAM: Monocular Multibody SLAM in Bird’s-eye View |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | 721 |
| biblio.first_page | 711 |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 1.0 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T10326 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9959999918937683 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2208 |
| topics[1].subfield.display_name | Electrical and Electronic Engineering |
| topics[1].display_name | Indoor and Outdoor Localization Technologies |
| topics[2].id | https://openalex.org/T10914 |
| topics[2].field.id | https://openalex.org/fields/28 |
| topics[2].field.display_name | Neuroscience |
| topics[2].score | 0.9925000071525574 |
| topics[2].domain.id | https://openalex.org/domains/1 |
| topics[2].domain.display_name | Life Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2805 |
| topics[2].subfield.display_name | Cognitive Neuroscience |
| topics[2].display_name | Tactile and Sensory Interactions |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C31972630 |
| concepts[0].level | 1 |
| concepts[0].score | 0.7746912240982056 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q844240 |
| concepts[0].display_name | Computer vision |
| concepts[1].id | https://openalex.org/C154945302 |
| concepts[1].level | 1 |
| concepts[1].score | 0.759099006652832 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[1].display_name | Artificial intelligence |
| concepts[2].id | https://openalex.org/C86369673 |
| concepts[2].level | 4 |
| concepts[2].score | 0.7524023652076721 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q1203659 |
| concepts[2].display_name | Simultaneous localization and mapping |
| concepts[3].id | https://openalex.org/C2780522230 |
| concepts[3].level | 2 |
| concepts[3].score | 0.6388847827911377 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q1140419 |
| concepts[3].display_name | Ambiguity |
| concepts[4].id | https://openalex.org/C65909025 |
| concepts[4].level | 2 |
| concepts[4].score | 0.6310242414474487 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q1945033 |
| concepts[4].display_name | Monocular |
| concepts[5].id | https://openalex.org/C41008148 |
| concepts[5].level | 0 |
| concepts[5].score | 0.6250946521759033 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[5].display_name | Computer science |
| concepts[6].id | https://openalex.org/C2776401178 |
| concepts[6].level | 2 |
| concepts[6].score | 0.47896650433540344 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q12050496 |
| concepts[6].display_name | Feature (linguistics) |
| concepts[7].id | https://openalex.org/C2776359362 |
| concepts[7].level | 3 |
| concepts[7].score | 0.44525980949401855 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q2145286 |
| concepts[7].display_name | Representation (politics) |
| concepts[8].id | https://openalex.org/C90509273 |
| concepts[8].level | 2 |
| concepts[8].score | 0.1539444625377655 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[8].display_name | Robot |
| concepts[9].id | https://openalex.org/C19966478 |
| concepts[9].level | 3 |
| concepts[9].score | 0.11310353875160217 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q4810574 |
| concepts[9].display_name | Mobile robot |
| concepts[10].id | https://openalex.org/C199360897 |
| concepts[10].level | 1 |
| concepts[10].score | 0.0 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q9143 |
| concepts[10].display_name | Programming language |
| concepts[11].id | https://openalex.org/C41895202 |
| concepts[11].level | 1 |
| concepts[11].score | 0.0 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q8162 |
| concepts[11].display_name | Linguistics |
| concepts[12].id | https://openalex.org/C138885662 |
| concepts[12].level | 0 |
| concepts[12].score | 0.0 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q5891 |
| concepts[12].display_name | Philosophy |
| concepts[13].id | https://openalex.org/C94625758 |
| concepts[13].level | 2 |
| concepts[13].score | 0.0 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q7163 |
| concepts[13].display_name | Politics |
| concepts[14].id | https://openalex.org/C17744445 |
| concepts[14].level | 0 |
| concepts[14].score | 0.0 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q36442 |
| concepts[14].display_name | Political science |
| concepts[15].id | https://openalex.org/C199539241 |
| concepts[15].level | 1 |
| concepts[15].score | 0.0 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q7748 |
| concepts[15].display_name | Law |
| keywords[0].id | https://openalex.org/keywords/computer-vision |
| keywords[0].score | 0.7746912240982056 |
| keywords[0].display_name | Computer vision |
| keywords[1].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[1].score | 0.759099006652832 |
| keywords[1].display_name | Artificial intelligence |
| keywords[2].id | https://openalex.org/keywords/simultaneous-localization-and-mapping |
| keywords[2].score | 0.7524023652076721 |
| keywords[2].display_name | Simultaneous localization and mapping |
| keywords[3].id | https://openalex.org/keywords/ambiguity |
| keywords[3].score | 0.6388847827911377 |
| keywords[3].display_name | Ambiguity |
| keywords[4].id | https://openalex.org/keywords/monocular |
| keywords[4].score | 0.6310242414474487 |
| keywords[4].display_name | Monocular |
| keywords[5].id | https://openalex.org/keywords/computer-science |
| keywords[5].score | 0.6250946521759033 |
| keywords[5].display_name | Computer science |
| keywords[6].id | https://openalex.org/keywords/feature |
| keywords[6].score | 0.47896650433540344 |
| keywords[6].display_name | Feature (linguistics) |
| keywords[7].id | https://openalex.org/keywords/representation |
| keywords[7].score | 0.44525980949401855 |
| keywords[7].display_name | Representation (politics) |
| keywords[8].id | https://openalex.org/keywords/robot |
| keywords[8].score | 0.1539444625377655 |
| keywords[8].display_name | Robot |
| keywords[9].id | https://openalex.org/keywords/mobile-robot |
| keywords[9].score | 0.11310353875160217 |
| keywords[9].display_name | Mobile robot |
| language | en |
| locations[0].id | doi:10.5220/0010199907110721 |
| locations[0].is_oa | True |
| locations[0].source | |
| locations[0].license | cc-by-nc-nd |
| locations[0].pdf_url | |
| locations[0].version | publishedVersion |
| locations[0].raw_type | proceedings-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by-nc-nd |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications |
| locations[0].landing_page_url | https://doi.org/10.5220/0010199907110721 |
| locations[1].id | pmh:oai:arXiv.org:2011.07613 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | |
| locations[1].pdf_url | https://arxiv.org/pdf/2011.07613 |
| locations[1].version | submittedVersion |
| locations[1].raw_type | text |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | http://arxiv.org/abs/2011.07613 |
| locations[2].id | mag:3098866736 |
| locations[2].is_oa | True |
| locations[2].source.id | https://openalex.org/S4306400194 |
| locations[2].source.issn | |
| locations[2].source.type | repository |
| locations[2].source.is_oa | True |
| locations[2].source.issn_l | |
| locations[2].source.is_core | False |
| locations[2].source.is_in_doaj | False |
| locations[2].source.display_name | arXiv (Cornell University) |
| locations[2].source.host_organization | https://openalex.org/I205783295 |
| locations[2].source.host_organization_name | Cornell University |
| locations[2].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[2].license | |
| locations[2].pdf_url | |
| locations[2].version | submittedVersion |
| locations[2].raw_type | |
| locations[2].license_id | |
| locations[2].is_accepted | False |
| locations[2].is_published | False |
| locations[2].raw_source_name | arXiv (Cornell University) |
| locations[2].landing_page_url | http://export.arxiv.org/pdf/2011.07613 |
| locations[3].id | doi:10.48550/arxiv.2011.07613 |
| locations[3].is_oa | True |
| locations[3].source.id | https://openalex.org/S4306400194 |
| locations[3].source.issn | |
| locations[3].source.type | repository |
| locations[3].source.is_oa | True |
| locations[3].source.issn_l | |
| locations[3].source.is_core | False |
| locations[3].source.is_in_doaj | False |
| locations[3].source.display_name | arXiv (Cornell University) |
| locations[3].source.host_organization | https://openalex.org/I205783295 |
| locations[3].source.host_organization_name | Cornell University |
| locations[3].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[3].license | cc-by |
| locations[3].pdf_url | |
| locations[3].version | |
| locations[3].raw_type | article |
| locations[3].license_id | https://openalex.org/licenses/cc-by |
| locations[3].is_accepted | False |
| locations[3].is_published | |
| locations[3].raw_source_name | |
| locations[3].landing_page_url | https://doi.org/10.48550/arxiv.2011.07613 |
| indexed_in | arxiv, crossref, datacite |
| authorships[0].author.id | https://openalex.org/A5043317182 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Swapnil Daga |
| authorships[0].countries | IN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I65181880 |
| authorships[0].affiliations[0].raw_affiliation_string | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[0].institutions[0].id | https://openalex.org/I65181880 |
| authorships[0].institutions[0].ror | https://ror.org/01j4v3x97 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I65181880 |
| authorships[0].institutions[0].country_code | IN |
| authorships[0].institutions[0].display_name | Indian Institute of Technology Hyderabad |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Swapnil Daga |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[1].author.id | https://openalex.org/A5030129770 |
| authorships[1].author.orcid | |
| authorships[1].author.display_name | Gokul B. Nair |
| authorships[1].countries | IN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I65181880 |
| authorships[1].affiliations[0].raw_affiliation_string | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[1].institutions[0].id | https://openalex.org/I65181880 |
| authorships[1].institutions[0].ror | https://ror.org/01j4v3x97 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I65181880 |
| authorships[1].institutions[0].country_code | IN |
| authorships[1].institutions[0].display_name | Indian Institute of Technology Hyderabad |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Gokul B. Nair |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[2].author.id | https://openalex.org/A5044058166 |
| authorships[2].author.orcid | |
| authorships[2].author.display_name | Anirudha Ramesh |
| authorships[2].countries | IN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I65181880 |
| authorships[2].affiliations[0].raw_affiliation_string | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[2].institutions[0].id | https://openalex.org/I65181880 |
| authorships[2].institutions[0].ror | https://ror.org/01j4v3x97 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I65181880 |
| authorships[2].institutions[0].country_code | IN |
| authorships[2].institutions[0].display_name | Indian Institute of Technology Hyderabad |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Anirudha Ramesh |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[3].author.id | https://openalex.org/A5030173417 |
| authorships[3].author.orcid | https://orcid.org/0000-0001-7714-5855 |
| authorships[3].author.display_name | Rahul Sajnani |
| authorships[3].countries | IN |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I65181880 |
| authorships[3].affiliations[0].raw_affiliation_string | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[3].institutions[0].id | https://openalex.org/I65181880 |
| authorships[3].institutions[0].ror | https://ror.org/01j4v3x97 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I65181880 |
| authorships[3].institutions[0].country_code | IN |
| authorships[3].institutions[0].display_name | Indian Institute of Technology Hyderabad |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Rahul Sajnani |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[4].author.id | https://openalex.org/A5082039098 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-7045-2550 |
| authorships[4].author.display_name | Junaid Ansari |
| authorships[4].affiliations[0].raw_affiliation_string | Embedded Systems and Robotics, TCS Innovation Labs, Kolkata, India, --- Select a Country --- |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Junaid Ahmed Ansari |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | Embedded Systems and Robotics, TCS Innovation Labs, Kolkata, India, --- Select a Country --- |
| authorships[5].author.id | https://openalex.org/A5075816776 |
| authorships[5].author.orcid | https://orcid.org/0000-0001-7846-7901 |
| authorships[5].author.display_name | K. Madhava Krishna |
| authorships[5].countries | IN |
| authorships[5].affiliations[0].institution_ids | https://openalex.org/I65181880 |
| authorships[5].affiliations[0].raw_affiliation_string | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| authorships[5].institutions[0].id | https://openalex.org/I65181880 |
| authorships[5].institutions[0].ror | https://ror.org/01j4v3x97 |
| authorships[5].institutions[0].type | education |
| authorships[5].institutions[0].lineage | https://openalex.org/I65181880 |
| authorships[5].institutions[0].country_code | IN |
| authorships[5].institutions[0].display_name | Indian Institute of Technology Hyderabad |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | K. Madhava Krishna |
| authorships[5].is_corresponding | False |
| authorships[5].raw_affiliation_strings | Robotics Research Center, KCIS, IIIT Hyderabad, India, --- Select a Country --- |
| has_content.pdf | False |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://doi.org/10.5220/0010199907110721 |
| open_access.oa_status | gold |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | BirdSLAM: Monocular Multibody SLAM in Bird’s-eye View |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 1.0 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W3130847441, https://openalex.org/W1982447260, https://openalex.org/W2186651731, https://openalex.org/W2045715871, https://openalex.org/W2524783280, https://openalex.org/W2623689759, https://openalex.org/W1968838806, https://openalex.org/W3102327032, https://openalex.org/W1542706929, https://openalex.org/W2602651144, https://openalex.org/W3048761334, https://openalex.org/W3106458387, https://openalex.org/W3098467253, https://openalex.org/W2981105092, https://openalex.org/W1775847968, https://openalex.org/W2074515009, https://openalex.org/W2503789818, https://openalex.org/W2018962710, https://openalex.org/W2071934150, https://openalex.org/W572564701 |
| cited_by_count | 0 |
| locations_count | 4 |
| best_oa_location.id | doi:10.5220/0010199907110721 |
| best_oa_location.is_oa | True |
| best_oa_location.source | |
| best_oa_location.license | cc-by-nc-nd |
| best_oa_location.pdf_url | |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | proceedings-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by-nc-nd |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications |
| best_oa_location.landing_page_url | https://doi.org/10.5220/0010199907110721 |
| primary_location.id | doi:10.5220/0010199907110721 |
| primary_location.is_oa | True |
| primary_location.source | |
| primary_location.license | cc-by-nc-nd |
| primary_location.pdf_url | |
| primary_location.version | publishedVersion |
| primary_location.raw_type | proceedings-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by-nc-nd |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications |
| primary_location.landing_page_url | https://doi.org/10.5220/0010199907110721 |
| publication_date | 2021-01-01 |
| publication_year | 2021 |
| referenced_works | https://openalex.org/W3005364037, https://openalex.org/W2963667201, https://openalex.org/W3098467253, https://openalex.org/W2963171573, https://openalex.org/W2109407206, https://openalex.org/W2152671441, https://openalex.org/W2954174912, https://openalex.org/W2774989038, https://openalex.org/W3103648783, https://openalex.org/W3102327032, https://openalex.org/W1914646313, https://openalex.org/W4285719527, https://openalex.org/W2419448466, https://openalex.org/W1563739745, https://openalex.org/W2110357983, https://openalex.org/W2114129181, https://openalex.org/W2146881125, https://openalex.org/W2951614162, https://openalex.org/W1880706632, https://openalex.org/W2427448504, https://openalex.org/W2126452053, https://openalex.org/W2127578024, https://openalex.org/W2056145819, https://openalex.org/W1965746724, https://openalex.org/W2468368736, https://openalex.org/W612478963, https://openalex.org/W3021304778, https://openalex.org/W2505477118, https://openalex.org/W2115579991, https://openalex.org/W2985775862, https://openalex.org/W2963073398 |
| referenced_works_count | 31 |
| abstract_inverted_index.a | 6, 25 |
| abstract_inverted_index.By | 69 |
| abstract_inverted_index.In | 0 |
| abstract_inverted_index.We | 98 |
| abstract_inverted_index.an | 54, 120 |
| abstract_inverted_index.as | 38, 58 |
| abstract_inverted_index.by | 32, 52 |
| abstract_inverted_index.in | 41, 49, 62, 95 |
| abstract_inverted_index.of | 18, 74, 115 |
| abstract_inverted_index.to | 85 |
| abstract_inverted_index.we | 3 |
| abstract_inverted_index.all | 91 |
| abstract_inverted_index.and | 10, 47, 65, 90, 111 |
| abstract_inverted_index.are | 67 |
| abstract_inverted_index.for | 14 |
| abstract_inverted_index.our | 101 |
| abstract_inverted_index.the | 15, 59, 72, 75, 78, 88, 113 |
| abstract_inverted_index.via | 119 |
| abstract_inverted_index.SLAM | 35 |
| abstract_inverted_index.cues | 84 |
| abstract_inverted_index.each | 116 |
| abstract_inverted_index.only | 24, 71 |
| abstract_inverted_index.that | 100, 106 |
| abstract_inverted_index.this | 1 |
| abstract_inverted_index.uses | 107 |
| abstract_inverted_index.view | 57 |
| abstract_inverted_index.with | 23 |
| abstract_inverted_index.work | 105 |
| abstract_inverted_index.(such | 37 |
| abstract_inverted_index.above | 77 |
| abstract_inverted_index.faced | 31 |
| abstract_inverted_index.novel | 7 |
| abstract_inverted_index.other | 33, 92 |
| abstract_inverted_index.prior | 104 |
| abstract_inverted_index.scale | 39 |
| abstract_inverted_index.space | 61 |
| abstract_inverted_index.using | 53 |
| abstract_inverted_index.view. | 97 |
| abstract_inverted_index.which | 63 |
| abstract_inverted_index.(SLAM) | 12 |
| abstract_inverted_index.design | 117 |
| abstract_inverted_index.height | 73 |
| abstract_inverted_index.object | 45 |
| abstract_inverted_index.paper, | 2 |
| abstract_inverted_index.system | 13, 102 |
| abstract_inverted_index.camera. | 27 |
| abstract_inverted_index.driving | 20 |
| abstract_inverted_index.dynamic | 44 |
| abstract_inverted_index.feature | 50 |
| abstract_inverted_index.greater | 109 |
| abstract_inverted_index.ground, | 79 |
| abstract_inverted_index.mapping | 11, 66 |
| abstract_inverted_index.present | 4 |
| abstract_inverted_index.systems | 36 |
| abstract_inverted_index.tackles | 29 |
| abstract_inverted_index.traffic | 93 |
| abstract_inverted_index.BirdSLAM | 28, 80 |
| abstract_inverted_index.ablation | 121 |
| abstract_inverted_index.assuming | 70 |
| abstract_inverted_index.decision | 118 |
| abstract_inverted_index.equipped | 22 |
| abstract_inverted_index.localize | 87 |
| abstract_inverted_index.scenario | 17 |
| abstract_inverted_index.strictly | 108 |
| abstract_inverted_index.BirdSLAM, | 5 |
| abstract_inverted_index.ambiguity | 40 |
| abstract_inverted_index.analysis. | 122 |
| abstract_inverted_index.highlight | 112 |
| abstract_inverted_index.leverages | 81 |
| abstract_inverted_index.metrology | 83 |
| abstract_inverted_index.monocular | 26, 34, 42 |
| abstract_inverted_index.platforms | 21 |
| abstract_inverted_index.relevance | 114 |
| abstract_inverted_index.accurately | 86 |
| abstract_inverted_index.autonomous | 19 |
| abstract_inverted_index.bird's-eye | 96 |
| abstract_inverted_index.challenges | 30 |
| abstract_inverted_index.ego-camera | 76 |
| abstract_inverted_index.performed. | 68 |
| abstract_inverted_index.challenging | 16 |
| abstract_inverted_index.demonstrate | 99 |
| abstract_inverted_index.ego-vehicle | 89 |
| abstract_inverted_index.outperforms | 103 |
| abstract_inverted_index.single-view | 82 |
| abstract_inverted_index.uncertainty | 48 |
| abstract_inverted_index.(bird's-eye) | 56 |
| abstract_inverted_index.information, | 110 |
| abstract_inverted_index.localization | 9, 64 |
| abstract_inverted_index.orthographic | 55 |
| abstract_inverted_index.participants | 94 |
| abstract_inverted_index.simultaneous | 8 |
| abstract_inverted_index.configuration | 60 |
| abstract_inverted_index.localization, | 46 |
| abstract_inverted_index.reconstruction, | 43 |
| abstract_inverted_index.representation) | 51 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 6 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/16 |
| sustainable_development_goals[0].score | 0.7599999904632568 |
| sustainable_development_goals[0].display_name | Peace, Justice and strong institutions |
| citation_normalized_percentile.value | 0.0021619 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |