{"id":"https://openalex.org/W4397011439","doi":"https://doi.org/10.1017/s0263574724000754","title":"CPR-SLAM: RGB-D SLAM in dynamic environment using sub-point cloud correlations","display_name":"CPR-SLAM: RGB-D SLAM in dynamic environment using sub-point cloud correlations","publication_year":2024,"publication_date":"2024-05-17","ids":{"openalex":"https://openalex.org/W4397011439","doi":"https://doi.org/10.1017/s0263574724000754"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724000754","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724000754","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5101978642","display_name":"Xinyi Yu","orcid":"https://orcid.org/0000-0002-8030-0163"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Yu","raw_affiliation_strings":["College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078843343","display_name":"Wancai Zheng","orcid":"https://orcid.org/0009-0005-2161-0806"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wancai Zheng","raw_affiliation_strings":["College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101893353","display_name":"Linlin Ou","orcid":"https://orcid.org/0000-0002-8589-9961"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linlin Ou","raw_affiliation_strings":["College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"College of information and Engineering, Zhejiang University of Technology, HangZhou, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101893353"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":6.7932,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96152743,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"42","issue":"7","first_page":"2367","last_page":"2387"},"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":0.9951000213623047,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8029890060424805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5563546419143677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.524830162525177},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5117049217224121},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5032820105552673},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.47274789214134216},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.45460009574890137},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44407594203948975},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3994675278663635},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24258777499198914},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11210101842880249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09002572298049927},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08936190605163574},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.04888060688972473}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8029890060424805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5563546419143677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.524830162525177},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5117049217224121},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5032820105552673},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.47274789214134216},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.45460009574890137},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44407594203948975},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3994675278663635},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24258777499198914},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11210101842880249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09002572298049927},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08936190605163574},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.04888060688972473},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724000754","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724000754","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1988744163","https://openalex.org/W2016285927","https://openalex.org/W2021930164","https://openalex.org/W2041094000","https://openalex.org/W2068763856","https://openalex.org/W2152671441","https://openalex.org/W2152701363","https://openalex.org/W2295478803","https://openalex.org/W2535547924","https://openalex.org/W2559085405","https://openalex.org/W2735010494","https://openalex.org/W2745859992","https://openalex.org/W2777964604","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2890213701","https://openalex.org/W2941292358","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963881378","https://openalex.org/W2970863034","https://openalex.org/W2978755412","https://openalex.org/W2989838178","https://openalex.org/W3044149300","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3120651375","https://openalex.org/W3141695146","https://openalex.org/W3206096534","https://openalex.org/W3212031688","https://openalex.org/W4200355487","https://openalex.org/W4280642593","https://openalex.org/W4303457474","https://openalex.org/W6846090964"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W2802581102","https://openalex.org/W2556215627"],"abstract_inverted_index":{"Abstract":[0],"The":[1,216],"early":[2],"applications":[3],"of":[4,23,84,118,130,180,188,229,237],"Visual":[5],"Simultaneous":[6],"Localization":[7],"and":[8,29,71,95,122,159,207,227],"Mapping":[9],"(VSLAM)":[10],"technology":[11],"were":[12],"primarily":[13],"focused":[14],"on":[15,19,148,199],"static":[16,21,119],"environments,":[17,40],"relying":[18],"the":[20,24,82,115,128,131,144,154,171,177,186,189,204,225,235,238],"nature":[22],"environment":[25],"for":[26,57,75],"map":[27],"construction":[28],"localization.":[30],"However,":[31],"in":[32,87,139,240],"practical":[33],"applications,":[34],"we":[35,112,150,233],"often":[36],"encounter":[37],"various":[38],"dynamic":[39,51,76,168,178,201,213,241],"such":[41,88],"as":[42,136],"city":[43],"streets,":[44],"where":[45],"moving":[46,85],"objects":[47,52,86],"are":[48,93,97],"present.":[49],"These":[50],"can":[53,151],"make":[54],"it":[55],"challenging":[56,200],"robots":[58],"to":[59,78,102,165],"accurately":[60,166],"understand":[61],"their":[62,123],"own":[63],"position.":[64],"This":[65,162],"paper":[66],"proposes":[67],"a":[68],"real-time":[69],"localization":[70],"mapping":[72],"method":[73,222],"tailored":[74],"environments":[77,242],"effectively":[79,152],"deal":[80],"with":[81,211],"interference":[83],"settings.":[89],"Firstly,":[90],"depth":[91],"images":[92],"clustered,":[94],"they":[96],"subdivided":[98],"into":[99],"sub-point":[100,120,132],"clouds":[101,121],"obtain":[103],"clearer":[104],"local":[105],"information.":[106],"Secondly,":[107],"when":[108],"processing":[109],"regular":[110,157,172],"frames,":[111],"fully":[113],"exploit":[114],"structural":[116],"invariance":[117],"relative":[124],"relationships.":[125],"Among":[126],"these,":[127],"concept":[129],"cloud":[133],"is":[134,191],"introduced":[135],"novel":[137],"idea":[138],"this":[140],"paper.":[141],"By":[142],"utilizing":[143],"results":[145,218],"computed":[146],"based":[147],"sub-poses,":[149],"quantify":[153],"disparities":[155],"between":[156],"frames":[158],"reference":[160],"frames.":[161,173],"enables":[163],"us":[164],"detect":[167],"areas":[169,179],"within":[170],"Furthermore,":[174],"by":[175],"refining":[176],"keyframes":[181],"using":[182],"historical":[183],"observation":[184],"data,":[185],"robustness":[187,228],"system":[190,239],"further":[192],"enhanced.":[193],"We":[194],"conducted":[195],"comprehensive":[196],"experimental":[197,217],"evaluations":[198],"sequences":[202],"from":[203],"TUM":[205],"dataset":[206],"compared":[208],"our":[209,221],"approach":[210],"state-of-the-art":[212],"VSLAM":[214],"systems.":[215],"demonstrate":[219],"that":[220],"significantly":[223],"enhances":[224],"accuracy":[226],"pose":[230],"estimation.":[231],"Additionally,":[232],"validated":[234],"effectiveness":[236],"through":[243],"real-world":[244],"scenario":[245],"tests.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
