{"paper":{"title":"An indoor DSO-based ceiling-vision odometry system for indoor industrial environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Abdelhak Bougouffa, Emmanuel Seignez, Florian Gardes, Samir Bouaziz","submitted_at":"2024-12-04T01:36:54Z","abstract_excerpt":"Autonomous Mobile Robots operating in indoor industrial environments require a localization system that is reliable and robust. While Visual Odometry (VO) can offer a reasonable estimation of the robot's state, traditional VO methods encounter challenges when confronted with dynamic objects in the scene. Alternatively, an upward-facing camera can be utilized to track the robot's movement relative to the ceiling, which represents a static and consistent space. We introduce in this paper Ceiling-DSO, a ceiling-vision system based on Direct Sparse Odometry (DSO). Unlike other ceiling-vision syste"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.02950","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2412.02950/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}