{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:16Z","timestamp":1777715716217,"version":"3.51.4"},"reference-count":32,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2007,6,1]],"date-time":"2007-06-01T00:00:00Z","timestamp":1180656000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,6]]},"abstract":"<jats:p>This paper presents a motion-stereo device using the GPS\/DR (dead reckoning) combination along with omnidirectional cameras to reconstruct 3-D environments by means of sensors small enough to be installed on a mobile robot. The proposed technique is based on the fact that it is possible to determine epipolar lines by using the precise positions and heading angles measured by a combination of GPS and various sensors; high-precision stereo matching may then be performed by means of geometrical restrictions. Furthermore, in comparison to the other stereo techniques, it is also possible to establish longer baselines for peripheral objects and simultaneously provide a higher precision in calculating the distances to far objects by applying voting processing to a series of distant motion-stereo images, which can be attained by using more than one baseline length, in 3-D spaces based on the precise positions and heading angles. In short, the proposed technique provides a substantial increase in measurement precision as compared to that with the well-known SFM (structure from motion) technique for reconstructing 3-D environments with monocular cameras; this is because the proposed technique utilizes a greater number of mobile parameters, which are determined using precise cameras. In this experiment, the measurement precision of the proposed technique has been evaluated in reconstructing the shapes of vehicles parked alongside a road; the measurements were found to have a standard deviation of 140 mm within a range of 10 m. It can be stated that the proposed omnidirectional motion-stereo technique is robust to environmental perturbations and can accurately estimate distances in the case of highly textured objects.<\/jats:p>","DOI":"10.1177\/0278364907079436","type":"journal-article","created":{"date-parts":[[2007,6,26]],"date-time":"2007-06-26T10:53:19Z","timestamp":1182855199000},"page":"625-636","source":"Crossref","is-referenced-by-count":14,"title":["3D Reconstruction Using Multibaseline Omnidirectional Motion Stereo Based on GPS\/Dead-reckoning Compound Navigation System"],"prefix":"10.1177","volume":"26","author":[{"given":"Jun-ichi","family":"Meguro","sequence":"first","affiliation":[{"name":"Waseda University, 17 Kikuicho, Shinjyuku-ku, Tokyo, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun-ichi","family":"Takiguchi","sequence":"additional","affiliation":[{"name":"Mitsubishi Electric Corp., 325 Kamimachiya, Kamakura, Kanagawa, 247-850 Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoshiharu","family":"Amano","sequence":"additional","affiliation":[{"name":"Waseda University, 17 Kikuicho, Shinjyuku-ku, Tokyo, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takumi","family":"Hashizume","sequence":"additional","affiliation":[{"name":"Waseda University, 17 Kikuicho, Shinjyuku-ku, Tokyo, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00128525"},{"key":"atypb2","volume-title":"Proceedings of AVEC 2006 6th International Symposium of Advanced Vehicle Control","author":"Carlson, C.R."},{"key":"atypb3","volume-title":"Proceedings of 5th IFAC Euron Symposium on International Autonomous Vehicle","author":"Davison, A.J."},{"key":"atypb4","volume-title":"Proceedings of 7th IEEE Workshop on Applications of Computer Vision\/IEEE Workshop on Motion and Video Computing (WACV\/MOTION","author":"Diel, D.D."},{"key":"atypb5","volume-title":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","author":"Folkesson, J."},{"key":"atypb6","volume-title":"IEEE Conference on Computer Vision and Pattern Recognition","author":"Fr\u00fch, C."},{"key":"atypb7","volume-title":"High accuracy dynamic highway mapping using a GPS\/INS\/CCD system with on-the-fly GPS ambiguity resolution, GISS Users Manual Version 2.0","author":"Grejner-Brzezinska, D.A.","year":"2004"},{"key":"atypb8","volume-title":"Geoscience and Remote Sensing Symposium","author":"Hanandhar, D."},{"key":"atypb9","volume-title":"Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition","author":"Hartley, R."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"atypb11","volume-title":"The Satellite Division Technical Meeting of ION GNSS ION","author":"Hirokawa, R."},{"key":"atypb12","volume-title":"Proceedings of DARPA Image Understanding Workshop","author":"Kanade, T."},{"key":"atypb13","volume-title":"Proceedings of the ASPRS Annual Convention","author":"Leberl, F."},{"key":"atypb14","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Meguro, J."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2005.p0218"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45054-8_42"},{"key":"atypb17","volume-title":"Proceedings of the 2005 IEEE, International Workshop on Safety, Security and Rescue Robotics","author":"N\u00fcchter, A."},{"key":"atypb18","volume-title":"Proceedings of ITS Symposium","author":"Ono, S."},{"key":"atypb19","volume-title":"A paraperspective factorization method shape and motion recovery. Technical report CMU\u2014 CS\u201493\u2014219","author":"Poelman C.J.","year":"1993"},{"key":"atypb20","volume-title":"International Symposium International Space University","author":"Saito, M."},{"key":"atypb21","volume-title":"Proceedings of 13th Scandinavian Conference on Image Analysis","author":"Sato, T."},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2003.09.004"},{"key":"atypb23","volume-title":"Proceedings of the 5th Symposium on Intelligent Autonomous Vehicles","author":"Surmann, H."},{"key":"atypb24","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Takiguchi, J."},{"issue":"2","key":"atypb25","first-page":"1","volume":"2","author":"Tao, C.V.","year":"2000","journal-title":"Journal of Geospatial Engineering,"},{"key":"atypb26","volume-title":"InerVis 2005, the 2nd Workshop on Integration of Vision and Inertial Sensors","author":"Tao, Y."},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1007\/BF00129684"},{"key":"atypb28","volume-title":"Proceedings of the 2004 IEEE International Conference on Robotics and Automation","author":"Tomono, M."},{"key":"atypb29","volume-title":"International Joint Conference on Neural Networks","author":"Zhou, Y.T."},{"key":"atypb30","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-005-4839-7"},{"key":"atypb31","volume-title":"IEEE Virtual Reality Conference","author":"You, S."},{"key":"atypb32","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-002-0099-5"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079436","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079436","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:00Z","timestamp":1777457760000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907079436"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,6]]},"references-count":32,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2007,6]]}},"alternative-id":["10.1177\/0278364907079436"],"URL":"https:\/\/doi.org\/10.1177\/0278364907079436","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,6]]}}}