{"id":"https://openalex.org/W4401288910","doi":"https://doi.org/10.1108/ir-04-2024-0166","title":"Visual SLAM algorithm in dynamic environment based on deep learning","display_name":"Visual SLAM algorithm in dynamic environment based on deep learning","publication_year":2024,"publication_date":"2024-08-03","ids":{"openalex":"https://openalex.org/W4401288910","doi":"https://doi.org/10.1108/ir-04-2024-0166"},"language":"en","primary_location":{"id":"doi:10.1108/ir-04-2024-0166","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2024-0166","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5100554076","display_name":"Yingjie Yu","orcid":"https://orcid.org/0009-0002-0504-2544"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjie Yu","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396696","display_name":"Shuai Chen","orcid":"https://orcid.org/0000-0003-0585-5262"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shuai Chen","raw_affiliation_strings":["Kunlun Digital Technology Co., Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kunlun Digital Technology Co., Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017372852","display_name":"Xinpeng Yang","orcid":"https://orcid.org/0000-0002-5690-0468"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinpeng Yang","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102547707","display_name":"Changzhen Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changzhen Xu","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100378893","display_name":"Sen Zhang","orcid":"https://orcid.org/0000-0002-8010-6045"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sen Zhang","raw_affiliation_strings":["School of Automation and Electrical Engineering and Shunde Innovation School, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering and Shunde Innovation School, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025288570","display_name":"Wendong Xiao","orcid":"https://orcid.org/0000-0002-2270-7889"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wendong Xiao","raw_affiliation_strings":["School of Automation and Electrical Engineering and Shunde Innovation School, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering and Shunde Innovation School, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0219,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76803662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"52","issue":"1","first_page":"28","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9948999881744385,"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":0.6739364862442017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6429648399353027},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.49785804748535156},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49501198530197144}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6739364862442017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6429648399353027},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.49785804748535156},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49501198530197144}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-04-2024-0166","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2024-0166","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1803059841","https://openalex.org/W2068763856","https://openalex.org/W2076917298","https://openalex.org/W2171740948","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2593414960","https://openalex.org/W2609883120","https://openalex.org/W2767981409","https://openalex.org/W2773227160","https://openalex.org/W2804176584","https://openalex.org/W2806446538","https://openalex.org/W2808571300","https://openalex.org/W2890949887","https://openalex.org/W2927636958","https://openalex.org/W2944296259","https://openalex.org/W2952037953","https://openalex.org/W2962772116","https://openalex.org/W2962816904","https://openalex.org/W2963488291","https://openalex.org/W2963583471","https://openalex.org/W2970369664","https://openalex.org/W3015235064","https://openalex.org/W3044149300","https://openalex.org/W3106458387","https://openalex.org/W4225282965","https://openalex.org/W4293094564","https://openalex.org/W4293167975","https://openalex.org/W4312290933","https://openalex.org/W4386596992","https://openalex.org/W4391125132","https://openalex.org/W6893711219"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3009238340","https://openalex.org/W3116076068","https://openalex.org/W2229312674"],"abstract_inverted_index":{"Purpose":[0],"This":[1,87,196],"paper":[2,109,123,151,171,197],"proposes":[3,198],"a":[4,39,68,84,111,174,180,199,213,226],"self-supervised":[5,112,214],"monocular":[6,113,215],"depth":[7,18,114,216],"estimation":[8,115,217],"algorithm":[9,116,134,147,168,201,210],"under":[10,219],"multiple":[11,220],"constraints,":[12],"which":[13],"can":[14,172,203],"generate":[15],"the":[16,30,54,75,90,105,125,131,136,146,153,167,223],"corresponding":[17],"map":[19],"end-to-end":[20],"based":[21,28,44,117,231],"on":[22,29,45,118,185,232],"RGB":[23],"images.":[24],"On":[25],"this":[26,108,122,150,170],"basis,":[27],"traditional":[31,132],"visual":[32],"simultaneous":[33],"localisation":[34],"and":[35,50,71,158,222],"mapping":[36],"(VSLAM)":[37],"framework,":[38],"dynamic":[40,51,81,127,140,207,227],"object":[41,228],"detection":[42,128,229],"framework":[43,129,230],"deep":[46,119],"learning":[47],"is":[48],"introduced,":[49],"objects":[52,82],"in":[53,94,149,169,192],"scene":[55],"are":[56],"culled":[57],"during":[58],"mapping.":[59,101],"Design/methodology/approach":[60],"Typical":[61],"SLAM":[62],"algorithms":[63],"or":[64],"data":[65],"sets":[66],"assume":[67],"static":[69],"environment":[70],"do":[72],"not":[73],"consider":[74],"potential":[76],"consequences":[77],"of":[78,92,104,138,177,182,212,225],"accidentally":[79],"adding":[80],"to":[83,206],"3D":[85],"map.":[86],"shortcoming":[88],"limits":[89],"applicability":[91],"VSLAM":[93,200],"many":[95],"practical":[96],"cases,":[97],"such":[98],"as":[99],"long-term":[100],"In":[102,165],"light":[103],"aforementioned":[106],"considerations,":[107],"presents":[110],"learning.":[120],"Furthermore,":[121],"introduces":[124],"YOLOv5":[126],"into":[130],"ORBSLAM2":[133],"for":[135],"purpose":[137],"removing":[139],"objects.":[141],"Findings":[142],"Compared":[143],"with":[144,160],"Dyna-SLAM,":[145],"proposed":[148],"reduces":[152],"error":[154],"by":[155,162],"about":[156,163],"13%,":[157],"compared":[159],"ORB-SLAM2":[161],"54.9%.":[164],"addition,":[166],"process":[173],"single":[175],"frame":[176],"image":[178],"at":[179],"speed":[181],"15\u201320":[183],"FPS":[184],"GeForce":[186],"RTX":[187],"2080s,":[188],"far":[189],"exceeding":[190],"Dyna-SLAM":[191],"real-time":[193],"performance.":[194],"Originality/value":[195],"that":[202],"be":[204],"applied":[205],"environments.":[208],"The":[209],"consists":[211],"part":[218],"constraints":[221],"introduction":[224],"YOLOv5.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
