{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T10:43:39Z","timestamp":1762253019063,"version":"3.37.3"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T00:00:00Z","timestamp":1559260800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T00:00:00Z","timestamp":1559260800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Machine Vision and Applications"],"published-print":{"date-parts":[[2019,9]]},"DOI":"10.1007\/s00138-019-01037-5","type":"journal-article","created":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T10:02:41Z","timestamp":1559296961000},"page":"1061-1070","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["ARM-VO: an efficient monocular visual odometry for ground vehicles on ARM CPUs"],"prefix":"10.1007","volume":"30","author":[{"given":"Zana","family":"Zakaryaie Nejad","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5097-0142","authenticated-orcid":false,"given":"Ali","family":"Hosseininaveh Ahmadabadian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,5,31]]},"reference":[{"issue":"1","key":"1037_CR1","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1007\/s10462-012-9365-8","volume":"43","author":"J Fuentes-Pacheco","year":"2015","unstructured":"Fuentes-Pacheco, J., Ruiz-Ascencio, J., Rend\u00f3n-Mancha, J.M.: Visual simultaneous localization and mapping: a survey. Artif. Intell. Rev. 43(1), 55\u201381 (2015)","journal-title":"Artif. Intell. Rev."},{"key":"1037_CR2","unstructured":"Mautz, R.: Indoor positioning technologies. Doctoral dissertation, Habilitationsschrift ETH Z\u00fcrich (2012)"},{"issue":"9","key":"1037_CR3","doi-asserted-by":"publisher","first-page":"1059","DOI":"10.1049\/iet-rsn.2013.0389","volume":"8","author":"A Ben-Afia","year":"2014","unstructured":"Ben-Afia, A., et al.: Review and classification of vision-based localisation techniques in unknown environments. IET Radar Sonar Navig. 8(9), 1059\u20131072 (2014)","journal-title":"IET Radar Sonar Navig."},{"key":"1037_CR4","unstructured":"Nist\u00e9r, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004. IEEE (2004)"},{"issue":"3","key":"1037_CR5","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1049\/iet-its.2016.0026","volume":"11","author":"G Velez","year":"2016","unstructured":"Velez, G., Otaegui, O.: Embedding vision-based advanced driver assistance systems: a survey. IET Intell. Transp. Syst. 11(3), 103\u2013112 (2016)","journal-title":"IET Intell. Transp. Syst."},{"key":"1037_CR6","unstructured":"Klein, G., Murray, D.: Parallel tracking and mapping on a camera phone. In: 8th IEEE International Symposium on Mixed and Augmented Reality, 2009. ISMAR 2009. IEEE (2009)"},{"key":"1037_CR7","unstructured":"Klein, G., Murray, D.: Parallel tracking and mapping for small AR workspaces. In: ISMAR 2007. 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007. IEEE (2007)"},{"key":"1037_CR8","volume-title":"Vision Based Navigation for Micro Helicopters","author":"SM Weiss","year":"2012","unstructured":"Weiss, S.M.: Vision Based Navigation for Micro Helicopters. ETH Zurich, Z\u00fcrich (2012)"},{"key":"1037_CR9","doi-asserted-by":"crossref","unstructured":"Sukvichai, K., et al.: Implementation of visual odometry estimation for underwater robot on ROS by using RaspberryPi 2. In: 2016 International Conference on Electronics, Information, and Communications (ICEIC). IEEE (2016)","DOI":"10.1109\/ELINFOCOM.2016.7563010"},{"key":"1037_CR10","doi-asserted-by":"crossref","unstructured":"Sch\u00f6ps, T., Engel, J., Cremers, D.: Semi-dense visual odometry for AR on a smartphone. In 2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR). IEEE (2014)","DOI":"10.1109\/ISMAR.2014.6948420"},{"key":"1037_CR11","doi-asserted-by":"crossref","unstructured":"Engel, J., Sch\u00f6ps, T., Cremers, D.: LSD-SLAM: large-scale direct monocular SLAM. In: European Conference on Computer Vision. Springer, Berlin (2014)","DOI":"10.1007\/978-3-319-10605-2_54"},{"key":"1037_CR12","doi-asserted-by":"crossref","unstructured":"Forster, C., Pizzoli, M., Scaramuzza, D.: SVO: fast semi-direct monocular visual odometry. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2014)","DOI":"10.1109\/ICRA.2014.6906584"},{"issue":"2","key":"1037_CR13","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","volume":"33","author":"C Forster","year":"2017","unstructured":"Forster, C., et al.: Svo: semidirect visual odometry for monocular and multicamera systems. IEEE Trans. Robot. 33(2), 249\u2013265 (2017)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1037_CR14","doi-asserted-by":"publisher","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":"1037_CR15","doi-asserted-by":"crossref","unstructured":"Li, M., Mourikis, A.I.: Vision-aided inertial navigation for resource-constrained systems. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2012)","DOI":"10.1109\/IROS.2012.6386223"},{"key":"1037_CR16","unstructured":"Shelley, M.: Monocular visual inertial odometry on a mobile device. Master\u2019s thesis, Institut f\u00fcr Informatik, TU M\u00fcnchen, Germany (2014)"},{"issue":"1","key":"1037_CR17","doi-asserted-by":"publisher","first-page":"1897","DOI":"10.1186\/s40064-016-3573-7","volume":"5","author":"MO Aqel","year":"2016","unstructured":"Aqel, M.O., et al.: Review of visual odometry: types, approaches, challenges, and applications. SpringerPlus 5(1), 1897 (2016)","journal-title":"SpringerPlus"},{"key":"1037_CR18","doi-asserted-by":"crossref","unstructured":"Geiger, A., Ziegler, J., Stiller, C.: Stereoscan: dense 3d reconstruction in real-time. In: 2011 IEEE Intelligent Vehicles Symposium (IV). IEEE (2011)","DOI":"10.1109\/IVS.2011.5940405"},{"key":"1037_CR19","unstructured":"Zhou, D., Dai, Y., Li, H.: Reliable scale estimation and correction for monocular visual odometry. In: 2016 IEEE Intelligent Vehicles Symposium (IV). IEEE (2016)"},{"issue":"6","key":"1037_CR20","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1177\/0278364907079283","volume":"26","author":"L Armesto","year":"2007","unstructured":"Armesto, L., Tornero, J., Vincze, M.: Fast ego-motion estimation with multi-rate fusion of inertial and vision. Int. J. Robot. Res. 26(6), 577\u2013589 (2007)","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"1037_CR21","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/TRO.2011.2160468","volume":"28","author":"A Martinelli","year":"2012","unstructured":"Martinelli, A.: Vision and IMU data fusion: closed-form solutions for attitude, speed, absolute scale, and bias determination. IEEE Trans. Robot. 28(1), 44\u201360 (2012)","journal-title":"IEEE Trans. Robot."},{"issue":"1\u20134","key":"1037_CR22","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1007\/s10846-010-9490-z","volume":"61","author":"G N\u00fctzi","year":"2011","unstructured":"N\u00fctzi, G., et al.: Fusion of IMU and vision for absolute scale estimation in monocular SLAM. J. Intell. Robot. Syst. 61(1\u20134), 287\u2013299 (2011)","journal-title":"J. Intell. Robot. Syst."},{"key":"1037_CR23","doi-asserted-by":"crossref","unstructured":"Calonder, M., et al.: Brief: binary robust independent elementary features. In: European Conference on Computer Vision. Springer, Berlin (2010)","DOI":"10.1007\/978-3-642-15561-1_56"},{"key":"1037_CR24","doi-asserted-by":"crossref","unstructured":"Rublee, E., et al.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision (ICCV). IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"1037_CR25","doi-asserted-by":"crossref","unstructured":"Leutenegger, S., Chli, M., Siegwart, R.Y.: BRISK: binary robust invariant scalable keypoints. In: 2011 IEEE International Conference on Computer Vision (ICCV). IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126542"},{"issue":"5","key":"1037_CR26","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: ORB-SLAM2: an open-source slam system for monocular, stereo, and rgb-d cameras. IEEE Trans. Robot. 33(5), 1255\u20131262 (2017)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"1037_CR27","doi-asserted-by":"publisher","first-page":"314","DOI":"10.1177\/0278364914554813","volume":"34","author":"S Leutenegger","year":"2015","unstructured":"Leutenegger, S., et al.: Keyframe-based visual\u2013inertial odometry using nonlinear optimization. Int. J. Robot. Res. 34(3), 314\u2013334 (2015)","journal-title":"Int. J. Robot. Res."},{"key":"1037_CR28","unstructured":"Lowe, D.G.: Object recognition from local scale-invariant features. In: The Proceedings of the Seventh IEEE International Conference on Computer Vision, 1999. IEEE (1999)"},{"key":"1037_CR29","doi-asserted-by":"crossref","unstructured":"Bay, H., Tuytelaars, T., Van Gool, L.: Surf: speeded up robust features. In: European Conference on Computer Vision. Springer, Berlin (2006)","DOI":"10.1007\/11744023_32"},{"key":"1037_CR30","doi-asserted-by":"crossref","unstructured":"Engel, J., Koltun, V., Cremers, D.: Direct sparse odometry. In: IEEE Transactions on Pattern Analysis and Machine Intelligence (2017)","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"1037_CR31","unstructured":"Barnes, B., et al.: Evaluation of feature detectors for KLT based feature tracking using the odroid u3. In: Proceedings of Australasian Conference on Robotics and Automation (2014)"},{"key":"1037_CR32","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)"},{"key":"1037_CR33","unstructured":"Torr, P.H.: An assessment of information criteria for motion model selection. In: 1997 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Proceedings. IEEE (1997)"},{"issue":"1","key":"1037_CR34","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1007\/s11554-012-0314-1","volume":"11","author":"P M\u00e1rquez-Neila","year":"2016","unstructured":"M\u00e1rquez-Neila, P., et al.: Speeding-up homography estimation in mobile devices. J. Real Time Image Process. 11(1), 141\u2013154 (2016)","journal-title":"J. Real Time Image Process."},{"key":"1037_CR35","volume-title":"Real-Time Monocular Large-scale Multicore Visual Odometry","author":"S Song","year":"2014","unstructured":"Song, S.: Real-Time Monocular Large-scale Multicore Visual Odometry. University of California, San Diego (2014)"},{"issue":"11","key":"1037_CR36","doi-asserted-by":"publisher","first-page":"1231","DOI":"10.1177\/0278364913491297","volume":"32","author":"A Geiger","year":"2013","unstructured":"Geiger, A., et al.: Vision meets robotics: the KITTI dataset. Int. J. Robot. Res. 32(11), 1231\u20131237 (2013)","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"1037_CR37","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1037_CR38","doi-asserted-by":"publisher","first-page":"2878","DOI":"10.1109\/LRA.2018.2846813","volume":"3","author":"N Yang","year":"2018","unstructured":"Yang, N., Wang, R., Gao, X., Cremers, D.: Challenges in monocular visual odometry: Photometric calibration, motion bias, and rolling shutter effect. IEEE Robot. Autom. Lett. 3(4), 2878\u20132885 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1037_CR39","unstructured":"Engel, J., Usenko, V., Cremers, D.: A photometrically calibrated benchmark for monocular visual odometry. arXiv preprint \n                    arXiv:1607.02555\n                    \n                   (2016)"}],"container-title":["Machine Vision and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-019-01037-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00138-019-01037-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-019-01037-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,29]],"date-time":"2020-05-29T23:22:34Z","timestamp":1590794554000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00138-019-01037-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,31]]},"references-count":39,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,9]]}},"alternative-id":["1037"],"URL":"https:\/\/doi.org\/10.1007\/s00138-019-01037-5","relation":{},"ISSN":["0932-8092","1432-1769"],"issn-type":[{"type":"print","value":"0932-8092"},{"type":"electronic","value":"1432-1769"}],"subject":[],"published":{"date-parts":[[2019,5,31]]},"assertion":[{"value":"22 July 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 April 2019","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 May 2019","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 May 2019","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}