{"id":"https://openalex.org/W2105101018","doi":"https://doi.org/10.1109/crv.2015.16","title":"Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras","display_name":"Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W2105101018","doi":"https://doi.org/10.1109/crv.2015.16","mag":"2105101018"},"language":"en","primary_location":{"id":"doi:10.1109/crv.2015.16","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crv.2015.16","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th Conference on Computer and Robot Vision","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109048366","display_name":"Michael Paton","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael Paton","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies","University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091016001","display_name":"Fran\u00e7ois Pomerleau","orcid":"https://orcid.org/0000-0003-1288-2744"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CA","CH"],"is_corresponding":false,"raw_author_name":"Francois Pomerleau","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies","ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies","University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.3464,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.95803836,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"46","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7207989692687988},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7051463723182678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6941350698471069},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6483737230300903},{"id":"https://openalex.org/keywords/shadow","display_name":"Shadow (psychology)","score":0.5751068592071533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5665305852890015},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5272000432014465},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.49108076095581055},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4742623567581177},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.46933403611183167},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.43762117624282837},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.4338718354701996}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7207989692687988},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7051463723182678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6941350698471069},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6483737230300903},{"id":"https://openalex.org/C117797892","wikidata":"https://www.wikidata.org/wiki/Q286363","display_name":"Shadow (psychology)","level":2,"score":0.5751068592071533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5665305852890015},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5272000432014465},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.49108076095581055},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4742623567581177},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.46933403611183167},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.43762117624282837},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.4338718354701996},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crv.2015.16","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crv.2015.16","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th Conference on Computer and Robot Vision","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W1562320275","https://openalex.org/W1986556718","https://openalex.org/W1993267444","https://openalex.org/W1996961307","https://openalex.org/W2003919215","https://openalex.org/W2006368361","https://openalex.org/W2024740138","https://openalex.org/W2073787051","https://openalex.org/W2096145515","https://openalex.org/W2110405746","https://openalex.org/W2118341165","https://openalex.org/W2119605622","https://openalex.org/W2124792970","https://openalex.org/W2151135369","https://openalex.org/W2294390014","https://openalex.org/W2901136733","https://openalex.org/W4230475428","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2001412002","https://openalex.org/W1987397303","https://openalex.org/W812480148","https://openalex.org/W2792859797","https://openalex.org/W128884630","https://openalex.org/W2949709491","https://openalex.org/W307265996","https://openalex.org/W1992486622","https://openalex.org/W2905493506","https://openalex.org/W2389564093"],"abstract_inverted_index":{"Autonomous":[0],"path-following":[1,71,198],"robots":[2],"that":[3,73,106,177],"use":[4],"vision-based":[5,28],"navigation":[6,29],"are":[7],"appealing":[8],"for":[9],"a":[10,19,59,95,107,139,149,181],"wide":[11],"variety":[12],"of":[13,34,61,83,94,116,126,158,166,180],"tedious":[14],"and":[15,47,56,85,172],"dangerous":[16],"applications.":[17],"However,":[18],"reliance":[20],"on":[21],"matching":[22],"point-based":[23],"visual":[24,54],"features":[25,55],"often":[26],"renders":[27],"unreliable":[30],"over":[31],"extended":[32],"periods":[33],"time":[35,127],"in":[36,53,58,88,98,112,121,163],"unstructured,":[37],"outdoor":[38],"environments.":[39],"Specifically,":[40],"scene":[41,168],"change":[42],"caused":[43],"by":[44],"lighting,":[45],"weather,":[46],"seasonal":[48],"variation":[49],"lead":[50],"to":[51,78,170,185,195],"changes":[52,162],"result":[57],"reduction":[60],"feature":[62,109],"associations":[63],"across":[64],"time.":[65],"This":[66],"paper":[67],"presents":[68],"an":[69,155],"autonomous,":[70],"system":[72,187],"uses":[74],"multiple":[75],"stereo":[76,183],"cameras":[77],"increase":[79],"the":[80,99,104,113,124,128,145,164,167,178,186,190],"algorithm":[81,137],"field":[82,115,142],"view":[84,117],"reliably":[86,131],"navigate":[87],"these":[89],"feature-limited":[90],"scenarios.":[91],"The":[92],"addition":[93,179],"second":[96,182],"camera":[97,184],"localization":[100],"pipeline":[101],"greatly":[102],"increases":[103,189],"probability":[105],"stable":[108],"will":[110],"be":[111],"robot's":[114],"at":[118],"any":[119],"point":[120],"time,":[122],"extending":[123],"amount":[125],"robot":[129,146],"can":[130],"navigate.":[132],"We":[133,175],"experimentally":[134],"validate":[135],"our":[136],"through":[138],"challenging":[140],"winter":[141],"trial,":[143],"where":[144],"autonomously":[147],"traverses":[148],"250m":[150],"path":[151],"six":[152],"times":[153],"with":[154],"autonomy":[156,191],"rate":[157],"100%":[159],"despite":[160],"significant":[161],"appearance":[165],"due":[169],"lighting":[171],"melting":[173],"snow.":[174],"show":[176],"significantly":[188],"window":[192],"when":[193],"compared":[194],"current":[196],"state-of-the-art":[197],"methods.":[199]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}