{"id":"https://openalex.org/W4404869874","doi":"https://doi.org/10.1108/ir-08-2024-0381","title":"Mobile robot localization method based on point-line feature visual-inertial SLAM algorithm","display_name":"Mobile robot localization method based on point-line feature visual-inertial SLAM algorithm","publication_year":2024,"publication_date":"2024-11-28","ids":{"openalex":"https://openalex.org/W4404869874","doi":"https://doi.org/10.1108/ir-08-2024-0381"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2024-0381","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2024-0381","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/A5115076555","display_name":"Jintao Xu","orcid":"https://orcid.org/0009-0001-9365-9562"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jintao Xu","raw_affiliation_strings":["Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025275692","display_name":"Yu Fang","orcid":"https://orcid.org/0000-0001-9824-9565"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Fang","raw_affiliation_strings":["Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033892940","display_name":"Wei\u2010Wei Gao","orcid":"https://orcid.org/0000-0003-0676-790X"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Gao","raw_affiliation_strings":["Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035743938","display_name":"Xintian Liu","orcid":"https://orcid.org/0000-0002-3395-9176"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xintian Liu","raw_affiliation_strings":["Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043608454","display_name":"Juanjuan Shi","orcid":"https://orcid.org/0000-0001-8634-9083"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juanjuan Shi","raw_affiliation_strings":["Soochow University School of Rail Transportation, , Suzhou,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soochow University School of Rail Transportation, , Suzhou,","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115595948","display_name":"Hao Yang","orcid":"https://orcid.org/0009-0007-7437-1815"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Yang","raw_affiliation_strings":["Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115076555"],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":null,"apc_paid":null,"fwci":5.2001,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95320424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"52","issue":"3","first_page":"391","last_page":"402"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.994700014591217,"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/feature","display_name":"Feature (linguistics)","score":0.7092899680137634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7069433927536011},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6916649341583252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6301729679107666},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6245690584182739},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5597537755966187},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5592910051345825},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5588231682777405},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5027668476104736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42028239369392395},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3487469553947449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1792934238910675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0609322190284729},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05985039472579956}],"concepts":[{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.7092899680137634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7069433927536011},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6916649341583252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6301729679107666},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6245690584182739},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5597537755966187},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5592910051345825},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5588231682777405},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5027668476104736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42028239369392395},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3487469553947449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1792934238910675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0609322190284729},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05985039472579956},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-08-2024-0381","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2024-0381","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/W1612997784","https://openalex.org/W2008849352","https://openalex.org/W2021278996","https://openalex.org/W2049479307","https://openalex.org/W2081501943","https://openalex.org/W2152671441","https://openalex.org/W2170558248","https://openalex.org/W2284029970","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2903061390","https://openalex.org/W2963200201","https://openalex.org/W2964029185","https://openalex.org/W2967494572","https://openalex.org/W3031007519","https://openalex.org/W3040398236","https://openalex.org/W3043971245","https://openalex.org/W3089751102","https://openalex.org/W3102327032","https://openalex.org/W3110110644","https://openalex.org/W3124420883","https://openalex.org/W3136363056","https://openalex.org/W4281642191","https://openalex.org/W4291115267","https://openalex.org/W4383822061","https://openalex.org/W6677871018","https://openalex.org/W6688547006","https://openalex.org/W6784410685"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W3125070615","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W4389558692","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Purpose":[0],"The":[1,165],"purpose":[2],"of":[3,17,118,168],"this":[4,169],"study":[5,170],"is":[6,50,61,171],"to":[7,75,101,114,162,172],"address":[8],"the":[9,38,46,55,84,102,116,121,133,144,150],"low":[10],"localization":[11,34,154,186],"accuracy":[12,160,195],"and":[13,24,27,69,80,95,110,126,138,147,190,196],"frequent":[14],"tracking":[15],"failures":[16],"traditional":[18],"visual":[19],"SLAM":[20,177],"methods":[21],"in":[22,188],"low-light":[23,146,189],"weak-texture":[25,148,191],"situations,":[26],"we":[28],"propose":[29,173],"a":[30,64,70,174],"mobile":[31,152],"robot":[32,153],"visual-inertial":[33,176],"method":[35,178],"based":[36],"on":[37,120,132],"improved":[39,151],"point-line":[40,107,180],"features":[41],"VINS-mono":[42],"algorithm.":[43],"Design/methodology/approach":[44],"First,":[45],"line":[47,57,66,89],"feature":[48,58,90,108],"information":[49],"introduced":[51],"into":[52],"VINS-mono.":[53,163],"Subsequently,":[54],"EDlines":[56],"extraction":[59],"algorithm":[60],"optimized":[62],"with":[63,193],"short":[65,78],"merging":[67],"strategy":[68,74],"dynamic":[71],"length":[72],"suppression":[73],"reduce":[76,115],"redundant":[77],"lines":[79],"fragmented":[81],"segments.":[82],"In":[83,143],"back-end":[85],"sliding":[86],"window":[87],"optimization,":[88],"reprojection":[91],"errors":[92],"are":[93,99,129],"incorporated,":[94],"Huber":[96],"kernel":[97],"functions":[98],"added":[100],"inertial":[103],"measurement":[104],"unit":[105],"residuals,":[106],"residuals":[109],"loop":[111],"closure":[112],"constraints":[113],"impact":[117],"outliers":[119],"optimization":[122],"results.":[123],"Findings":[124],"Comparison":[125],"verification":[127],"experiments":[128],"carried":[130],"out":[131],"EuRoC":[134],"MAV":[135],"Data":[136],"set":[137],"real":[139,145],"weakly":[140],"textured":[141],"environment.":[142],"scenarios,":[149],"system":[155],"achieves":[156],"over":[157],"40%":[158],"higher":[159,194],"compared":[161],"Originality/value":[164],"main":[166],"contribution":[167],"new":[175],"combining":[179],"features,":[181],"which":[182],"can":[183],"achieve":[184],"good":[185],"effect":[187],"scenes,":[192],"robustness.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}