{"id":"https://openalex.org/W2996446526","doi":"https://doi.org/10.1109/access.2019.2958374","title":"DSOD: DSO in Dynamic Environments","display_name":"DSOD: DSO in Dynamic Environments","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2996446526","doi":"https://doi.org/10.1109/access.2019.2958374","mag":"2996446526"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2958374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928492.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8600701/08928492.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100625536","display_name":"Ping Ma","orcid":"https://orcid.org/0000-0003-2398-9889"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Ma","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2398-9889","affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028209605","display_name":"Yue Bai","orcid":"https://orcid.org/0000-0002-0883-1672"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Bai","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-0883-1672","affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030241627","display_name":"Junan Zhu","orcid":"https://orcid.org/0000-0002-4001-1551"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junan Zhu","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4001-1551","affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101491946","display_name":"Chunjun Wang","orcid":"https://orcid.org/0000-0003-0877-4783"},"institutions":[{"id":"https://openalex.org/I4210126257","display_name":"CRRC (China)","ror":"https://ror.org/033g21894","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126257"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunjun Wang","raw_affiliation_strings":["CRSC Research and Design Institute Group Company, Ltd., Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0877-4783","affiliations":[{"raw_affiliation_string":"CRSC Research and Design Institute Group Company, Ltd., Beijing, China","institution_ids":["https://openalex.org/I4210126257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101718618","display_name":"Cheng Peng","orcid":"https://orcid.org/0000-0001-6050-1294"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Peng","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-6050-1294","affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":19.7873,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.98760863,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"178300","last_page":"178309"},"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":0.9983000159263611,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7938888669013977},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7758255004882812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7703777551651001},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7329245805740356},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.722453236579895},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.688258707523346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6819050908088684},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6096330881118774},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5372329354286194},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4946705996990204},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.47848981618881226},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4503940939903259},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4368552565574646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21107885241508484}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7938888669013977},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7758255004882812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7703777551651001},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7329245805740356},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.722453236579895},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.688258707523346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6819050908088684},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6096330881118774},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5372329354286194},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4946705996990204},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.47848981618881226},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4503940939903259},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4368552565574646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21107885241508484},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2958374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928492.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:07beddebdebf418ab517f74398539c4b","is_oa":true,"landing_page_url":"https://doaj.org/article/07beddebdebf418ab517f74398539c4b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 178300-178309 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2958374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928492.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4057892856","display_name":"\u65b0\u578b\u975e\u5e73\u9762\u65cb\u7ffc\u98de\u884c\u673a\u5668\u4eba\u52a8\u529b\u5b66\u53ca\u6709\u754c\u8f93\u5165\u4e0b\u7684\u80fd\u91cf\u6210\u578b\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"11372309","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5171962810","display_name":null,"funder_award_id":"61304017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7669567928","display_name":null,"funder_award_id":"GQRC-19-13","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320322174","display_name":"People's Government of Jilin Province","ror":"https://ror.org/02fzqav45"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2996446526.pdf","grobid_xml":"https://content.openalex.org/works/W2996446526.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W801273237","https://openalex.org/W1578285471","https://openalex.org/W1690959182","https://openalex.org/W1861492603","https://openalex.org/W1901129140","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W1997452076","https://openalex.org/W2053740312","https://openalex.org/W2055904838","https://openalex.org/W2068763856","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2132311402","https://openalex.org/W2150066425","https://openalex.org/W2167687475","https://openalex.org/W2340897893","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2559597482","https://openalex.org/W2593414960","https://openalex.org/W2738259787","https://openalex.org/W2797929305","https://openalex.org/W2830339951","https://openalex.org/W2884962765","https://openalex.org/W2909791330","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963357556","https://openalex.org/W2963562098","https://openalex.org/W2963881378","https://openalex.org/W2968288611","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3105612746","https://openalex.org/W6639102338","https://openalex.org/W6639824700","https://openalex.org/W6668041581"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Recently,":[0],"visual":[1],"simultaneous":[2],"localization":[3],"and":[4,13,43,55,120,129,132],"mapping":[5],"(SLAM)":[6],"has":[7],"been":[8],"widely":[9],"used":[10],"in":[11,19,58,96],"robotics":[12],"autonomous":[14,56],"vehicles.":[15],"It":[16],"performs":[17],"well":[18],"static":[20],"environments.":[21],"However,":[22],"real-world":[23,59],"environments":[24],"are":[25],"often":[26],"dynamic":[27,78,98],"scenarios.":[28,60],"Because":[29],"it":[30],"is":[31,64],"difficult":[32],"for":[33],"SLAM":[34,46,69,76],"to":[35,74,77,91,116],"deal":[36],"with":[37,111,142],"moving":[38,44],"objects":[39],"such":[40],"as":[41],"pedestrians":[42],"cars,":[45],"does":[47],"not":[48],"meet":[49],"the":[50,93,127,133,143],"actual":[51],"needs":[52],"of":[53,68],"robots":[54],"vehicles":[57],"Visual":[61],"odometry":[62,89],"(VO)":[63],"a":[65,82,97,107,112],"key":[66],"component":[67],"systems.":[70],"In":[71],"this":[72],"paper,":[73],"extend":[75],"scenarios,":[79],"we":[80],"propose":[81],"monocular":[83],"VO":[84],"based":[85],"on":[86,126],"direct":[87],"sparse":[88],"(DSO)":[90],"solve":[92],"problems":[94],"arising":[95],"environment.":[99],"The":[100],"proposed":[101],"method,":[102],"called":[103],"DSO-Dynamic":[104],"(DSOD),":[105],"combines":[106],"semantic":[108,121],"segmentation":[109],"network":[110,115],"depth":[113,119],"prediction":[114],"provide":[117],"prior":[118],"information.":[122],"Experiments":[123],"were":[124],"conducted":[125],"KITTI":[128],"Cityscapes":[130],"datasets,":[131],"results":[134],"show":[135],"our":[136],"method":[137],"achieves":[138],"good":[139],"performance":[140],"compared":[141],"baseline":[144],"algorithm,":[145],"DSO.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}