{"id":"https://openalex.org/W4408564173","doi":"https://doi.org/10.1109/jsen.2025.3543768","title":"Low-Light Enhancement Visual SLAM via Deep Deformable Power Curve Estimation","display_name":"Low-Light Enhancement Visual SLAM via Deep Deformable Power Curve Estimation","publication_year":2025,"publication_date":"2025-03-18","ids":{"openalex":"https://openalex.org/W4408564173","doi":"https://doi.org/10.1109/jsen.2025.3543768"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2025.3543768","doi":"https://doi.org/10.1109/jsen.2025.3543768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3543768","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W4408564173"],"child_works_count":0,"type":"article","is_traditional":true,"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/A5100601303","display_name":"Yanjie Liu","orcid":"https://orcid.org/0000-0002-7274-4979","observed_orcids":["https://orcid.org/0000-0002-7274-4979"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Liu","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341990","display_name":"Heng Wu","orcid":"https://orcid.org/0009-0008-8295-0400","observed_orcids":["https://orcid.org/0009-0008-8295-0400"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Wu","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0008-8295-0400","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Weiwu Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwu Zhang","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101635258","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0002-1536-6246","observed_orcids":["https://orcid.org/0000-0002-1536-6246"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1536-6246","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067612188","display_name":"Yanlong Wei","orcid":"https://orcid.org/0009-0007-8068-3233","observed_orcids":["https://orcid.org/0009-0007-8068-3233","https://orcid.org/0009-0001-8749-3631"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanlong Wei","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103095219","display_name":"Meixuan Ren","orcid":"https://orcid.org/0009-0002-1375-4621","observed_orcids":["https://orcid.org/0009-0002-1375-4621"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meixuan Ren","raw_affiliation_strings":["Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, State Key Laboratory of Robotics and System, Harbin Institule of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.1825,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76254968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"25","issue":"10","first_page":"17404","last_page":"17412"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922000169754028,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922000169754028,"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/T11019","display_name":"Image Enhancement Techniques","score":0.00570000009611249,"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":0.00019999999494757503,"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/low-light-image-enhancement","display_name":"low-light image enhancement","score":0.9139999747276306},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.9959999918937683},{"id":"https://openalex.org/keywords/orb-slam2","display_name":"ORB-SLAM2","score":0.9319999814033508},{"id":"https://openalex.org/keywords/dynamic-range-adjustment","display_name":"dynamic range adjustment","score":0.6380000114440918},{"id":"https://openalex.org/keywords/unsupervised-image-enhancement","display_name":"unsupervised image enhancement","score":0.7279999852180481},{"id":"https://openalex.org/keywords/keypoint-matching","display_name":"feature point matching","score":0.6990000009536743},{"id":"https://openalex.org/keywords/dark-conditions","display_name":"dark conditions","score":0.6690000295639038}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5994880795478821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.594484806060791},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5295953154563904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46650829911231995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10446622967720032},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08296528458595276}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsen.2025.3543768","doi":"https://doi.org/10.1109/jsen.2025.3543768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3543768","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5378999710083008,"id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G7934423852","display_name":null,"funder_award_id":"2023ZX01A01","funder_id":"https://openalex.org/F4320335774","funder_display_name":"Key Technologies Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320335774","display_name":"Key Technologies Research and Development Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1580436348","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1976468890","https://openalex.org/W1987444808","https://openalex.org/W1989484209","https://openalex.org/W1998393535","https://openalex.org/W2054814429","https://openalex.org/W2055563346","https://openalex.org/W2058333183","https://openalex.org/W2133665775","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2164847484","https://openalex.org/W2254039850","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2566376500","https://openalex.org/W2783573276","https://openalex.org/W2791710889","https://openalex.org/W2797929305","https://openalex.org/W2830339951","https://openalex.org/W2887817889","https://openalex.org/W2963562098","https://openalex.org/W2964794620","https://openalex.org/W2978413979","https://openalex.org/W3043971245","https://openalex.org/W3120651375","https://openalex.org/W3121661546","https://openalex.org/W3134649899","https://openalex.org/W3166330769","https://openalex.org/W3207892421","https://openalex.org/W4234143859","https://openalex.org/W4246614213","https://openalex.org/W4311529231"],"related_works":["https://openalex.org/W4404623410","https://openalex.org/W4292313599","https://openalex.org/W4366999341","https://openalex.org/W7161790958","https://openalex.org/W4411687374","https://openalex.org/W7117770826","https://openalex.org/W7084028895","https://openalex.org/W4405304378","https://openalex.org/W4417486469","https://openalex.org/W4410395142"],"abstract_inverted_index":{"The":[0,66],"unevenness":[1],"and":[2,24,78,83,92,131,151],"darkness":[3],"of":[4,11,20,62,80,102,168,181],"lighting":[5],"in":[6,137,173],"real":[7],"environments":[8],"are":[9],"one":[10],"the":[12,17,58,75,99,107,119,127,134,166,179],"main":[13],"issues":[14],"that":[15],"affect":[16],"practical":[18],"application":[19,100],"visual":[21,34],"simultaneous":[22],"localization":[23],"mapping":[25],"(SLAM).":[26],"To":[27],"address":[28],"this":[29],"issue,":[30],"we":[31,43,124],"propose":[32],"a":[33,45,63,85,113],"SLAM":[35,116],"algorithm":[36],"based":[37,50],"on":[38,51],"low-light":[39,47,64,103,114,120],"enhancement":[40,48,115,122],"networks.":[41],"First,":[42],"designed":[44],"lightweight":[46],"network":[49],"deformable":[52],"power":[53,71],"curves,":[54],"DPCE-Net,":[55],"to":[56,111,147],"adjust":[57],"pixels\u2019":[59],"dynamic":[60,87],"range":[61],"image.":[65],"curve":[67],"is":[68,90],"derived":[69],"from":[70],"function,":[72],"which":[73],"considers":[74],"range,":[76],"monotonicity,":[77],"differentiability":[79],"pixel":[81],"values,":[82],"has":[84],"high":[86],"range.":[88],"DPCE-Net":[89,108],"trained":[91],"evaluated":[93],"without":[94],"reference":[95],"images,":[96],"effectively":[97,164],"expanding":[98],"scenarios":[101],"enhancement.":[104],"Then,":[105],"combine":[106],"with":[109,126],"ORB-SLAM2":[110],"construct":[112],"(DPCE-SLAM).":[117],"In":[118,158],"image":[121,153],"experiment,":[123],"compared":[125],"state-of-the-art":[128],"method,":[129],"Enlighten-GAN,":[130],"Zero-DEC,":[132],"achieving":[133],"good":[135],"performance":[136],"structural":[138],"similarity":[139],"(SSIM),":[140],"mean":[141],"square":[142],"error":[143],"(mse),":[144],"peak":[145],"signal":[146],"noise":[148],"ratio":[149],"(PSNR),":[150],"natural":[152],"quality":[154],"evaluator":[155],"(NIQE)":[156],"indicators.":[157],"state":[159,182],"estimation":[160],"evaluation,":[161],"DPCE-SLAM":[162],"can":[163],"increase":[165],"number":[167],"correctly":[169],"matched":[170],"feature":[171],"points":[172],"dark":[174],"environments,":[175],"while":[176],"also":[177],"improving":[178],"robustness":[180],"estimation.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-03-19T00:00:00"}