{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:09:05Z","timestamp":1760346545332},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"1-2","license":[{"start":{"date-parts":[[2016,7,30]],"date-time":"2016-07-30T00:00:00Z","timestamp":1469836800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100004281","name":"Polish National Science Centre","doi-asserted-by":"crossref","award":["DEC- 2013\/09\/B\/ST7\/01583"],"award-info":[{"award-number":["DEC- 2013\/09\/B\/ST7\/01583"]}],"id":[{"id":"10.13039\/501100004281","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Machine Vision and Applications"],"published-print":{"date-parts":[[2017,2]]},"DOI":"10.1007\/s00138-016-0802-6","type":"journal-article","created":{"date-parts":[[2016,7,30]],"date-time":"2016-07-30T07:50:49Z","timestamp":1469865049000},"page":"61-74","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Toward evaluation of visual navigation algorithms on RGB-D data from the first- and second-generation Kinect"],"prefix":"10.1007","volume":"28","author":[{"given":"Marek","family":"Kraft","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Micha\u0142","family":"Nowicki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adam","family":"Schmidt","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Micha\u0142","family":"Fularz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Piotr","family":"Skrzypczy\u0144ski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,7,30]]},"reference":[{"key":"802_CR1","unstructured":"Amon, C., Fuhrmann, F., Graf, F.: Evaluation of the spatial resolution accuracy of the face tracking system for Kinect for Windows v1 and v2. In: Proceedings of the 6th Congress of the Alps Adria Acoustics Association (2014)"},{"issue":"3","key":"802_CR2","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1023\/B:VISI.0000011205.11775.fd","volume":"56","author":"S Baker","year":"2004","unstructured":"Baker, S., Matthews, I.: Lucas\u2013Kanade 20 years on: a unifying framework. Int. J. Comput. Vis. 56(3), 221\u2013255 (2004)","journal-title":"Int. J. Comput. Vis."},{"issue":"3","key":"802_CR3","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (SURF). Compu. Vis. Image Underst. 110(3), 346\u2013359 (2008)","journal-title":"Compu. Vis. Image Underst."},{"key":"802_CR4","doi-asserted-by":"crossref","unstructured":"Belter, D., Nowicki, M., Skrzypczy\u0144ski, P.: On the performance of pose-based RGB-D visual navigation systems. In: Cremers, D., Reid, I., Saito, H., Yang M.H. (eds.) Computer Vision\u2014-ACCV 2014, Lecture Notes in Computer Science, vol. 9004, pp. 407\u2013423. Springer International Publishing (2015)","DOI":"10.1007\/978-3-319-16808-1_28"},{"issue":"4","key":"802_CR5","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1007\/s10514-009-9156-5","volume":"27","author":"S Ceriani","year":"2009","unstructured":"Ceriani, S., Fontana, G., Giusti, A., Marzorati, D., Matteucci, M., Migliore, D., Rizzi, D., Sorrenti, D.G., Taddei, P.: Rawseeds ground truth collection systems for indoor self-localization and mapping. Auton. Robots 27(4), 353\u2013371 (2009)","journal-title":"Auton. Robots"},{"key":"802_CR6","doi-asserted-by":"crossref","unstructured":"Claus, D., Fitzgibbon, A.W.: A rational function lens distortion model for general cameras. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005. CVPR 2005, vol.\u00a01, pp. 213\u2013219. IEEE (2005)","DOI":"10.1109\/CVPR.2005.43"},{"issue":"6","key":"802_CR7","doi-asserted-by":"crossref","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","volume":"29","author":"A Davison","year":"2007","unstructured":"Davison, A., Reid, I., Molton, N., Stasse, O.: MonoSLAM: real-time single camera SLAM. IEEE Trans. Pattern Anal. Mach. Intell. 29(6), 1052\u20131067 (2007)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"2","key":"802_CR8","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1109\/MRA.2006.1638022","volume":"13","author":"H Durrant-Whyte","year":"2006","unstructured":"Durrant-Whyte, H., Bailey, T.: Simultaneous localization and mapping: part I. IEEE Robot. Autom. Mag. 13(2), 99\u2013110 (2006)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"1","key":"802_CR9","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1109\/TRO.2013.2279412","volume":"30","author":"F Endres","year":"2014","unstructured":"Endres, F., Hess, J., Sturm, J., Cremers, D., Burgard, W.: 3-D mapping with an RGB-D camera. IEEE Trans. Robot. 30(1), 177\u2013187 (2014)","journal-title":"IEEE Trans. Robot."},{"key":"802_CR10","unstructured":"Ester, M., Kriegel, H.P., Sander, J., Xu, X.: A density-based algorithm for discovering clusters in large spatial databases with noise. In: Proceedings of the 2nd International Conference on Knowledge Discovery and Data Mining, pp. 226\u2013231 (1996)"},{"issue":"14","key":"802_CR11","doi-asserted-by":"crossref","first-page":"1695","DOI":"10.1177\/0278364913509035","volume":"32","author":"M Fallon","year":"2013","unstructured":"Fallon, M., Johannsson, H., Kaess, M., Leonard, J.J.: The MIT Stata Center dataset. Int. J. Robot. Res. 32(14), 1695\u20131699 (2013)","journal-title":"Int. J. Robot. Res."},{"key":"802_CR12","doi-asserted-by":"crossref","unstructured":"Fankhauser, P., Bloesch, M., Rodriguez, D., , Kaestner, R., Hutter, M., Siegwart, R.: Kinect v2 for mobile robot navigation: evaluation and modeling. In: IEEE International Conference on Advanced Robotics (ICAR) (2015)","DOI":"10.1109\/ICAR.2015.7251485"},{"issue":"2","key":"802_CR13","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1109\/MRA.2012.2182810","volume":"19","author":"F Fraundorfer","year":"2012","unstructured":"Fraundorfer, F., Scaramuzza, D.: Visual odometry: part II: matching, robustness, optimization, and applications. IEEE Robot. Autom. Mag. 19(2), 78\u201390 (2012)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"11","key":"802_CR14","doi-asserted-by":"crossref","first-page":"6507","DOI":"10.1109\/JSEN.2015.2459139","volume":"15","author":"M Gesto Diaz","year":"2011","unstructured":"Gesto Diaz, M., Tombari, F., Rodriguez-Gonzalvez, P., Gonzalez-Aguilera, D.: Analysis and evaluation between the first and the second generation of rgb-d sensors. IEEE Sens. J. 15(11), 6507\u20136516 (2011)","journal-title":"IEEE Sens. J."},{"issue":"4","key":"802_CR15","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1109\/MITS.2010.939925","volume":"2","author":"G Grisetti","year":"2010","unstructured":"Grisetti, G., K\u00fcmmerle, R., Stachniss, C., Burgard, W.: A tutorial on graph-based SLAM. IEEE Intell. Transp. Syst. Mag. 2(4), 31\u201343 (2010)","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"802_CR16","doi-asserted-by":"crossref","unstructured":"Handa, A., Whelan, T., McDonald, J., Davison, A.J.: A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1524\u20131531. IEEE (2014)","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"802_CR17","volume-title":"Multiple View Geometry in Computer Vision","author":"R Hartley","year":"2003","unstructured":"Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2003)"},{"issue":"2","key":"802_CR18","doi-asserted-by":"crossref","first-page":"1437","DOI":"10.3390\/s120201437","volume":"12","author":"K Khoshelham","year":"2012","unstructured":"Khoshelham, K., Elberink, S.O.: Accuracy and resolution of Kinect depth data for indoor mapping applications. Sensors 12(2), 1437\u20131454 (2012)","journal-title":"Sensors"},{"key":"802_CR19","doi-asserted-by":"publisher","unstructured":"Lachat, E., Macher, H., Mittet, M.A., Landes, T., Grussenmeyer, P.: First experiences with Kinect v2 sensor for close range 3D modelling. ISPRS Int. Arch. Photogram. Remote Sens. Spat. Inf. Sci. XL-5\/W4 93\u2013100 (2015) doi: 10.5194\/isprsarchives-XL-5-W4-93-2015","DOI":"10.5194\/isprsarchives-XL-5-W4-93-2015"},{"key":"802_CR20","doi-asserted-by":"crossref","unstructured":"Maykol\u00a0Pinto, A., Costa, P., Moreira, A., Rocha, L., Veiga, G., Moreira, E.: Evaluation of depth sensors for robotic applications. In: 2015 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 139\u2013143 (2015)","DOI":"10.1109\/ICARSC.2015.24"},{"issue":"12","key":"802_CR21","doi-asserted-by":"crossref","first-page":"e1001,195","DOI":"10.1371\/journal.pbio.1001195","volume":"9","author":"JC Molloy","year":"2011","unstructured":"Molloy, J.C.: The open knowledge foundation: open data means better science. PLoS Biol. 9(12), e1001,195 (2011)","journal-title":"PLoS Biol."},{"key":"802_CR22","doi-asserted-by":"crossref","unstructured":"Nowicki, M., Skrzypczy\u0144ski, P.: Combining photometric and depth data for lightweight and robust visual odometry. In: 2013 European Conference on Mobile Robots (ECMR), pp. 125\u2013130. IEEE (2013)","DOI":"10.1109\/ECMR.2013.6698831"},{"key":"802_CR23","unstructured":"Optitrack\u2014Motion capture systems. https:\/\/www.optitrack.com\/"},{"issue":"8","key":"802_CR24","doi-asserted-by":"crossref","first-page":"2022","DOI":"10.1109\/TPAMI.2012.257","volume":"35","author":"R Raguram","year":"2013","unstructured":"Raguram, R., Chum, O., Pollefeys, M., Matas, J., Frahm, J.: USAC: a universal framework for random sample consensus. IEEE Trans. Pattern Anal. Mach. Intell. 35(8), 2022\u20132038 (2013)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"802_CR25","doi-asserted-by":"crossref","unstructured":"Richtsfeld, A., Morwald, T., Prankl, J., Zillich, M., Vincze, M.: Segmentation of unknown objects in indoor environments. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4791\u20134796 (2012)","DOI":"10.1109\/IROS.2012.6385661"},{"key":"802_CR26","doi-asserted-by":"crossref","unstructured":"Rosten, E., Drummond, T.: Machine learning for high-speed corner detection. In: Computer Vision\u2013ECCV 2006, pp. 430\u2013443. Springer (2006)","DOI":"10.1007\/11744023_34"},{"key":"802_CR27","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2564\u20132571. IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"issue":"4","key":"802_CR28","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1109\/MRA.2011.943233","volume":"18","author":"D Scaramuzza","year":"2011","unstructured":"Scaramuzza, D., Fraundorfer, F.: Visual odometry [tutorial]. IEEE Robot. Autom. Mag. 18(4), 80\u201392 (2011)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"802_CR29","doi-asserted-by":"crossref","first-page":"83","DOI":"10.5772\/58471","volume":"11","author":"A Schmidt","year":"2014","unstructured":"Schmidt, A., Kasi\u0144ski, A., Kraft, M., Fularz, M., Domaga\u0142a, Z.: Calibration of the multi-camera registration system for visual navigation benchmarking. Int. J. Adv. Robot. Syst. 11, 83 (2014)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"802_CR30","doi-asserted-by":"crossref","unstructured":"Singh, A., Sha, J., Narayan, K., Achim, T., Abbeel, P.: BigBIRD: A large-scale 3D database of object instances. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 509\u2013516 (2014)","DOI":"10.1109\/ICRA.2014.6906903"},{"issue":"5","key":"802_CR31","doi-asserted-by":"crossref","first-page":"595","DOI":"10.1177\/0278364909103911","volume":"28","author":"M Smith","year":"2009","unstructured":"Smith, M., Baldwin, I., Churchill, W., Paul, R., Newman, P.: The New College vision and laser data set. Int. J. Robot. Res. 28(5), 595\u2013599 (2009)","journal-title":"Int. J. Robot. Res."},{"key":"802_CR32","doi-asserted-by":"crossref","unstructured":"Sturm, J., Engelhard, N., Endres, F., Burgard, W., Cremers, D.: A benchmark for the evaluation of RGB-D SLAM systems. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 573\u2013580. IEEE (2012)","DOI":"10.1109\/IROS.2012.6385773"},{"key":"802_CR33","unstructured":"Sturm, J., Magnenat, S., Engelhard, N., Pomerleau, F., Colas, F., Cremers, D., Siegwart, R., Burgard, W.: Towards a benchmark for RGB-D SLAM evaluation. In: RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conference (RSS) (2011)"},{"key":"802_CR34","doi-asserted-by":"crossref","unstructured":"Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment\u2014a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) Vision Algorithms: Theory and Practice, pp. 298\u2013372. Springer-Verlag, Berlin, Heidelberg (2000)","DOI":"10.1007\/3-540-44480-7_21"},{"issue":"4","key":"802_CR35","doi-asserted-by":"crossref","first-page":"376","DOI":"10.1109\/34.88573","volume":"13","author":"S Umeyama","year":"1991","unstructured":"Umeyama, S.: Least-squares estimation of transformation parameters between two point patterns. IEEE Trans. Pattern Anal. Mach. Intell. 13(4), 376\u2013380 (1991)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"802_CR36","unstructured":"Motion capture systems vicon. http:\/\/www.vicon.com\/"},{"key":"802_CR37","doi-asserted-by":"crossref","unstructured":"Williams, B., Reid, I.: On combining visual SLAM and visual odometry. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 3494\u20133500. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509248"},{"key":"802_CR38","doi-asserted-by":"crossref","unstructured":"Xiao, J., Owens, A., Torralba, A.: SUN3D: a database of big spaces reconstructed using SfM and object labels. In: 2013 IEEE International Conference on Computer Vision (ICCV), pp. 1625\u20131632 (2013)","DOI":"10.1109\/ICCV.2013.458"},{"key":"802_CR39","doi-asserted-by":"crossref","unstructured":"Zennaro, S., Munaro, M., Milani, S., Zanuttigh, P., Bernardi, A., Ghidoni, S., Menegatti, E.: Performance evaluation of the 1st and 2nd generation Kinect for multimedia applications. In: 2015 IEEE International Conference on Multimedia and Expo (ICME), pp. 1\u20136 (2015)","DOI":"10.1109\/ICME.2015.7177380"}],"container-title":["Machine Vision and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-016-0802-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00138-016-0802-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-016-0802-6","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-016-0802-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,17]],"date-time":"2020-05-17T02:23:36Z","timestamp":1589682216000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00138-016-0802-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,7,30]]},"references-count":39,"journal-issue":{"issue":"1-2","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["802"],"URL":"https:\/\/doi.org\/10.1007\/s00138-016-0802-6","relation":{},"ISSN":["0932-8092","1432-1769"],"issn-type":[{"value":"0932-8092","type":"print"},{"value":"1432-1769","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,7,30]]}}}