{"id":"https://openalex.org/W4392610939","doi":"https://doi.org/10.1108/ir-11-2023-0309","title":"SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints","display_name":"SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints","publication_year":2024,"publication_date":"2024-03-07","ids":{"openalex":"https://openalex.org/W4392610939","doi":"https://doi.org/10.1108/ir-11-2023-0309"},"language":"en","primary_location":{"id":"doi:10.1108/ir-11-2023-0309","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2023-0309","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/A5048924584","display_name":"Jianjun Yao","orcid":"https://orcid.org/0000-0003-1640-3923"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002691168","display_name":"Yingzhao Li","orcid":"https://orcid.org/0000-0002-5699-4097"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingzhao Li","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":4.1553,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9329374,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"51","issue":"3","first_page":"400","last_page":"412"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9932000041007996,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9873999953269958,"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":0.776057243347168},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7227806448936462},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6209976673126221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5962230563163757},{"id":"https://openalex.org/keywords/silk","display_name":"SILK","score":0.44789889454841614},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.04372391104698181}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.776057243347168},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7227806448936462},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6209976673126221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5962230563163757},{"id":"https://openalex.org/C2780431358","wikidata":"https://www.wikidata.org/wiki/Q653622","display_name":"SILK","level":2,"score":0.44789889454841614},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.04372391104698181},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-11-2023-0309","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2023-0309","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":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1979931042","https://openalex.org/W2048710758","https://openalex.org/W2106199912","https://openalex.org/W2111308925","https://openalex.org/W2117228865","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2573241147","https://openalex.org/W2621274416","https://openalex.org/W2745859992","https://openalex.org/W2913429812","https://openalex.org/W2960033181","https://openalex.org/W2979458572","https://openalex.org/W3020500358","https://openalex.org/W3037854993","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3166285241","https://openalex.org/W3193551877","https://openalex.org/W3205106055","https://openalex.org/W4200629514","https://openalex.org/W4288335985","https://openalex.org/W4290803068","https://openalex.org/W4295887162","https://openalex.org/W4311912364","https://openalex.org/W4313176116","https://openalex.org/W4389668085","https://openalex.org/W4390874369","https://openalex.org/W6891824259"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Purpose":[0],"Weak":[1],"repeatability":[2],"is":[3,207],"observed":[4],"in":[5,12,76,149,169,178,191,197],"handcrafted":[6],"keypoints,":[7,174],"leading":[8],"to":[9,57,68,137,143],"tracking":[10],"failures":[11],"visual":[13,74],"simultaneous":[14],"localization":[15,75,134,150,187],"and":[16,29,63,72,90,99,113,127,139,156,172,189],"mapping":[17],"(SLAM)":[18],"systems":[19],"under":[20],"challenging":[21,179],"scenarios":[22],"such":[23],"as":[24],"illumination":[25],"change,":[26],"rapid":[27],"rotation":[28],"large":[30],"angle":[31],"of":[32,78,201],"view":[33],"variation.":[34],"In":[35],"contrast,":[36],"learning-based":[37,87],"keypoints":[38],"exhibit":[39],"higher":[40],"repetition":[41],"but":[42],"entail":[43],"considerable":[44],"computational":[45],"costs.":[46],"This":[47,65],"paper":[48,66],"proposes":[49],"an":[50,59,92,147],"innovative":[51,93],"algorithm":[52,95],"for":[53,96],"keypoint":[54,97],"extraction,":[55],"aiming":[56],"strike":[58],"equilibrium":[60],"between":[61],"precision":[62],"efficiency.":[64,101],"aims":[67],"attain":[69],"accurate,":[70],"robust":[71],"versatile":[73],"scenes":[77],"formidable":[79,192],"complexity.":[80],"Design/methodology/approach":[81],"SiLK-SLAM":[82,103,145,183],"initially":[83],"refines":[84],"the":[85,159,199],"cutting-edge":[86],"extractor,":[88],"SiLK,":[89],"introduces":[91],"postprocessing":[94],"homogenization":[98],"operational":[100],"Furthermore,":[102],"devises":[104],"a":[105],"reliable":[106],"relocalization":[107,164],"strategy":[108],"called":[109],"PCPnP,":[110],"leveraging":[111],"progressive":[112],"consistent":[114],"sampling,":[115],"thereby":[116],"bolstering":[117],"its":[118,176],"robustness.":[119],"Findings":[120],"Empirical":[121],"evaluations":[122],"conducted":[123],"on":[124],"TUM,":[125],"KITTI":[126],"EuRoC":[128],"data":[129,161],"sets":[130],"substantiate":[131],"SiLK-SLAM\u2019s":[132,167],"superior":[133],"accuracy":[135,151,188],"compared":[136],"ORB-SLAM3":[138],"other":[140],"methods.":[141],"Compared":[142],"ORB-SLAM3,":[144],"demonstrates":[146],"enhancement":[148],"even":[152],"by":[153],"70.99%,":[154],"87.20%":[155],"85.27%":[157],"across":[158],"three":[160],"sets.":[162],"The":[163,182],"experiments":[165],"demonstrate":[166],"capability":[168],"producing":[170],"precise":[171],"repeatable":[173],"showcasing":[175],"robustness":[177],"environments.":[180,205],"Originality/value":[181],"achieves":[184],"exceedingly":[185],"elevated":[186],"resilience":[190],"scenarios,":[193],"holding":[194],"paramount":[195],"importance":[196],"enhancing":[198],"autonomy":[200],"robots":[202],"navigating":[203],"intricate":[204],"Code":[206],"available":[208],"at":[209],"https://github.com/Pepper-FlavoredChewingGum/SiLK-SLAM":[210],".":[211]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}