{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T09:40:17Z","timestamp":1776418817621,"version":"3.51.2"},"reference-count":10,"publisher":"Hindawi Limited","license":[{"start":{"date-parts":[[2012,1,1]],"date-time":"2012-01-01T00:00:00Z","timestamp":1325376000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2012]]},"abstract":"<jats:p>In the field of mobile autonomous robots, visual odometry entails the retrieval of a motion transformation between two consecutive poses of the robot by means of a camera sensor solely. A visual odometry provides an essential information for trajectory estimation in problems such as Localization and SLAM (Simultaneous Localization and Mapping). In this work we present a motion estimation based on a single omnidirectional camera. We exploited the maximized horizontal field of view provided by this camera, which allows us to encode large scene information into the same image. The estimation of the motion transformation between two poses is incrementally computed, since only the processing of two consecutive omnidirectional images is required. Particularly, we exploited the versatility of the information gathered by omnidirectional images to perform both an appearance-based and a feature-based method to obtain visual odometry results. We carried out a set of experiments in real indoor environments to test the validity and suitability of both methods. The data used in the experiments consists of a large sets of omnidirectional images captured along the robot's trajectory in three different real scenarios. Experimental results demonstrate the accuracy of the estimations and the capability of both methods to work in real-time.<\/jats:p>","DOI":"10.1155\/2012\/797063","type":"journal-article","created":{"date-parts":[[2012,9,6]],"date-time":"2012-09-06T21:28:17Z","timestamp":1346966897000},"page":"1-13","source":"Crossref","is-referenced-by-count":11,"title":["Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images"],"prefix":"10.1155","volume":"2012","author":[{"given":"David","family":"Valiente Garc\u00eda","sequence":"first","affiliation":[{"name":"Departamento de Ingenier\u0131a de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Avda. de la Universidad s\/n, 03202 Elche (Alicante), Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lorenzo","family":"Fern\u00e1ndez Rojo","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u0131a de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Avda. de la Universidad s\/n, 03202 Elche (Alicante), Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arturo","family":"Gil Aparicio","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u0131a de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Avda. de la Universidad s\/n, 03202 Elche (Alicante), Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luis","family":"Pay\u00e1 Castell\u00f3","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u0131a de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Avda. de la Universidad s\/n, 03202 Elche (Alicante), Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oscar","family":"Reinoso Garc\u00eda","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u0131a de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Avda. de la Universidad s\/n, 03202 Elche (Alicante), Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"98","reference":[{"key":"5","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-005-0006-y"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20103"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.014"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004490"},{"issue":"5","key":"14","doi-asserted-by":"crossref","first-page":"792","DOI":"10.1002\/rob.20411","volume":"28","year":"2011","journal-title":"Journal of Field Robotics"},{"key":"19","year":"1992"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-009-0195-x"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2006.03.005"},{"key":"28","year":"2004"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/797063.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/797063.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/797063.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,20]],"date-time":"2017-06-20T23:50:54Z","timestamp":1498002654000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2012\/797063\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012]]},"references-count":10,"alternative-id":["797063","797063"],"URL":"https:\/\/doi.org\/10.1155\/2012\/797063","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"value":"1687-9600","type":"print"},{"value":"1687-9619","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012]]}}}