{"id":"https://openalex.org/W2917141083","doi":"https://doi.org/10.1109/access.2019.2901584","title":"Learnable Line Segment Descriptor for Visual SLAM","display_name":"Learnable Line Segment Descriptor for Visual SLAM","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2917141083","doi":"https://doi.org/10.1109/access.2019.2901584","mag":"2917141083"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2901584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2901584","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08651490.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08651490.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082487287","display_name":"Alexander Vakhitov","orcid":"https://orcid.org/0000-0002-1108-1948"},"institutions":[{"id":"https://openalex.org/I4210141363","display_name":"Samsung (Russia)","ror":"https://ror.org/051an6p98","country_code":"RU","type":"company","lineage":["https://openalex.org/I4210141363"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Alexander Vakhitov","raw_affiliation_strings":["Samsung AI Center, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center, Moscow, Russia","institution_ids":["https://openalex.org/I4210141363"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083458209","display_name":"Victor Lempitsky","orcid":"https://orcid.org/0000-0003-4118-710X"},"institutions":[{"id":"https://openalex.org/I4210141363","display_name":"Samsung (Russia)","ror":"https://ror.org/051an6p98","country_code":"RU","type":"company","lineage":["https://openalex.org/I4210141363"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Victor Lempitsky","raw_affiliation_strings":["Samsung AI Center, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center, Moscow, Russia","institution_ids":["https://openalex.org/I4210141363"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5082487287"],"corresponding_institution_ids":["https://openalex.org/I4210141363"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":40.7291,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.994987,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"39923","last_page":"39934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7902346849441528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7607686519622803},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6937315464019775},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6103373169898987},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6082720756530762},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.5957475304603577},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5651552677154541},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5342428088188171},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5286431908607483},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5212648510932922},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4402041435241699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1681910753250122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12391164898872375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11151942610740662}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7902346849441528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7607686519622803},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6937315464019775},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6103373169898987},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6082720756530762},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.5957475304603577},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5651552677154541},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5342428088188171},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5286431908607483},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5212648510932922},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4402041435241699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1681910753250122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12391164898872375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11151942610740662},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2901584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2901584","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08651490.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:424c159215dd43ee960e452e0fb64658","is_oa":true,"landing_page_url":"https://doaj.org/article/424c159215dd43ee960e452e0fb64658","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 39923-39934 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2901584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2901584","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08651490.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["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 Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7781315366","display_name":null,"funder_award_id":"RFMEFI61516X0003","funder_id":"https://openalex.org/F4320321912","funder_display_name":"Ministry of Education and Science of the Russian Federation"}],"funders":[{"id":"https://openalex.org/F4320321912","display_name":"Ministry of Education and Science of the Russian Federation","ror":"https://ror.org/00ghqgy32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2917141083.pdf","grobid_xml":"https://content.openalex.org/works/W2917141083.grobid-xml"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W566555209","https://openalex.org/W603908379","https://openalex.org/W764651262","https://openalex.org/W1522301498","https://openalex.org/W1564161204","https://openalex.org/W1869500417","https://openalex.org/W1881649694","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1974880733","https://openalex.org/W2005116293","https://openalex.org/W2007178811","https://openalex.org/W2008849352","https://openalex.org/W2014710139","https://openalex.org/W2021278996","https://openalex.org/W2023019938","https://openalex.org/W2036242214","https://openalex.org/W2057488855","https://openalex.org/W2059278866","https://openalex.org/W2081501943","https://openalex.org/W2089888558","https://openalex.org/W2096733369","https://openalex.org/W2104853049","https://openalex.org/W2113144208","https://openalex.org/W2132341613","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2157364932","https://openalex.org/W2163605009","https://openalex.org/W2169561155","https://openalex.org/W2177274842","https://openalex.org/W2179094021","https://openalex.org/W2185786809","https://openalex.org/W2204975001","https://openalex.org/W2300242332","https://openalex.org/W2320444803","https://openalex.org/W2340546455","https://openalex.org/W2340690086","https://openalex.org/W2344472721","https://openalex.org/W2394916924","https://openalex.org/W2396274919","https://openalex.org/W2520920593","https://openalex.org/W2531409750","https://openalex.org/W2535547924","https://openalex.org/W2543234964","https://openalex.org/W2737260104","https://openalex.org/W2738596250","https://openalex.org/W2808677637","https://openalex.org/W2889958683","https://openalex.org/W2894876844","https://openalex.org/W2897491790","https://openalex.org/W2899050613","https://openalex.org/W2963157250","https://openalex.org/W2963748588","https://openalex.org/W3102327032","https://openalex.org/W4298877589","https://openalex.org/W6618372016","https://openalex.org/W6639435539","https://openalex.org/W6639824700","https://openalex.org/W6684191040","https://openalex.org/W6698200048","https://openalex.org/W6704508018","https://openalex.org/W6727386647","https://openalex.org/W6752096081","https://openalex.org/W6755731354","https://openalex.org/W6755967533"],"related_works":["https://openalex.org/W4391621807","https://openalex.org/W3037187668","https://openalex.org/W28570768","https://openalex.org/W4321487865","https://openalex.org/W4313906399","https://openalex.org/W2912965286","https://openalex.org/W4391621790","https://openalex.org/W4239306820","https://openalex.org/W4234772502","https://openalex.org/W4391266461"],"abstract_inverted_index":{"Traditionally,":[0],"the":[1,32,39,43,112,117,120,129,134,143,149,161,175,196,200],"indirect":[2],"visual":[3],"motion":[4],"estimation":[5],"and":[6,9,35,53,105,166,210],"simultaneous":[7],"localization":[8],"mapping":[10],"(SLAM)":[11],"systems":[12,23,50],"were":[13,29,51],"based":[14,183],"on":[15,81],"point":[16],"features.":[17],"In":[18,56],"recent":[19],"years,":[20],"several":[21],"SLAM":[22,176,184],"that":[24,116,142],"use":[25,110],"lines":[26],"as":[27],"primitives":[28],"suggested.":[30],"Despite":[31],"extra":[33],"robustness":[34],"accuracy":[36],"brought":[37],"by":[38],"line":[40,44,66,107,131,145,153,168,182],"segment":[41,45,67,146,154],"matching,":[42],"descriptors":[46,68,77,125,147,155],"used":[47],"in":[48,133,157],"such":[49,76],"hand-crafted,":[52],"therefore":[54],"sub-optimal.":[55],"this":[57,94],"paper,":[58],"we":[59],"suggest":[60],"applying":[61],"descriptor":[62,201],"learning":[63],"to":[64,123],"construct":[65,179],"optimized":[69],"for":[70,160,207],"matching":[71,104,165],"tasks.":[72],"We":[73,140,178,192],"show":[74,141],"how":[75],"can":[78],"be":[79],"constructed":[80],"top":[82],"of":[83,93,103,111,119,163,195,199],"a":[84,180,188],"deep":[85],"yet":[86],"lightweight":[87],"fully-convolutional":[88,113],"neural":[89],"network.":[90],"The":[91,109],"coefficients":[92],"network":[95,114,202],"are":[96],"trained":[97],"using":[98],"an":[99],"automatically":[100],"collected":[101],"dataset":[102],"non-matching":[106,167],"segments.":[108],"ensures":[115],"bulk":[118],"computations":[121],"needed":[122],"compute":[124],"is":[126],"shared":[127],"among":[128],"multiple":[130],"segments":[132],"same":[135],"image,":[136],"enabling":[137],"efficient":[138],"implementation.":[139],"learned":[144,197],"outperform":[148],"previously":[150],"suggested":[151],"hand-crafted":[152],"both":[156],"isolation":[158],"(i.e.,":[159],"subtask":[162],"distinguishing":[164],"segments),":[169],"but":[170],"also":[171],"when":[172],"built":[173,186],"into":[174],"system.":[177,191],"new":[181],"pipeline":[185],"upon":[187],"state-of-the-art":[189],"point-only":[190],"demonstrate":[193],"generalization":[194],"parameters":[198],"between":[203],"two":[204],"well-known":[205],"datasets":[206],"autonomous":[208],"driving":[209],"indoor":[211],"micro":[212],"aerial":[213],"vehicle":[214],"navigation.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}
