{"id":"https://openalex.org/W3021126357","doi":"https://doi.org/10.1109/access.2020.2990890","title":"MGC-VSLAM: A Meshing-Based and Geometric Constraint VSLAM for Dynamic Indoor Environments","display_name":"MGC-VSLAM: A Meshing-Based and Geometric Constraint VSLAM for Dynamic Indoor Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3021126357","doi":"https://doi.org/10.1109/access.2020.2990890","mag":"3021126357"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2990890","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2990890","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079863.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/ielx7/6287639/8948470/09079863.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024669831","display_name":"Shiqiang Yang","orcid":"https://orcid.org/0000-0001-5356-4094"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiqiang Yang","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","institution_ids":["https://openalex.org/I4210131919"]},{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027834404","display_name":"Guohao Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guohao Fan","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","institution_ids":["https://openalex.org/I4210131919"]},{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019368079","display_name":"Lele Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lele Bai","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","institution_ids":["https://openalex.org/I4210131919"]},{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448653","display_name":"Rui Li","orcid":"https://orcid.org/0000-0003-4372-1791"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Li","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","institution_ids":["https://openalex.org/I4210131919"]},{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101699425","display_name":"Dexin Li","orcid":"https://orcid.org/0009-0001-2649-1042"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexin Li","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, China","institution_ids":["https://openalex.org/I4210131919"]},{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024669831"],"corresponding_institution_ids":["https://openalex.org/I4210131919"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":27.708,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99105593,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"81007","last_page":"81021"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9959999918937683,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.7194927334785461},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6602829694747925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4279245138168335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3260647654533386},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13824179768562317},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06007629632949829}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7194927334785461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6602829694747925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4279245138168335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3260647654533386},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13824179768562317},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06007629632949829}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2990890","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2990890","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079863.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:5186a314d88042e8a3dce8c3355f7236","is_oa":true,"landing_page_url":"https://doaj.org/article/5186a314d88042e8a3dce8c3355f7236","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 8, Pp 81007-81021 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2990890","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2990890","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079863.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":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2202719695","display_name":null,"funder_award_id":"51475365","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3021126357.pdf","grobid_xml":"https://content.openalex.org/works/W3021126357.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491719799","https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2115072079","https://openalex.org/W2117228865","https://openalex.org/W2139453094","https://openalex.org/W2142493339","https://openalex.org/W2149684865","https://openalex.org/W2170282673","https://openalex.org/W2177274842","https://openalex.org/W2461937780","https://openalex.org/W2468367546","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2621274416","https://openalex.org/W2735010494","https://openalex.org/W2745859992","https://openalex.org/W2771218478","https://openalex.org/W2783185291","https://openalex.org/W2788608285","https://openalex.org/W2793586828","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2891299851","https://openalex.org/W2907726063","https://openalex.org/W2950359794","https://openalex.org/W2950989657","https://openalex.org/W2954845987","https://openalex.org/W2974209239","https://openalex.org/W2985912973","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W4389499832","https://openalex.org/W6629564929","https://openalex.org/W6681458626","https://openalex.org/W6682304300","https://openalex.org/W6859303079"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","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":{"Visual":[0],"Simultaneous":[1],"Localization":[2],"and":[3,59,88,131,224],"Mapping":[4],"(VSLAM)":[5],"system":[6],"is":[7,119,170,177,191],"considered":[8],"to":[9,79,144,193,210,231],"be":[10],"a":[11,26,63,113,133,165,173,180,186],"fundamental":[12],"capability":[13],"for":[14,31,67],"autonomous":[15],"mobile":[16],"robots.":[17],"However,":[18],"most":[19],"of":[20,38,49,75,82,99,103,127,136,155,248],"the":[21,36,43,47,50,80,83,89,97,100,108,128,139,153,162,196,201,204,221,233,239,245],"existing":[22],"VSLAM":[23,65],"algorithms":[24],"adopt":[25],"strong":[27],"scene":[28],"rigidity":[29],"assumption":[30],"analysis":[32],"convenience,":[33],"which":[34,77],"ignored":[35],"influence":[37],"independently":[39],"moving":[40],"objects":[41],"in":[42,111,138,200,216,250],"real":[44],"environment":[45],"on":[46,72,161,220],"accuracy":[48,247],"SLAM":[51,163],"system.":[52],"Hence,":[53],"this":[54],"paper":[55],"proposes":[56],"MGC-VSLAM:":[57],"Meshing-based":[58],"Geometric":[60],"constraint":[61,183,189],"VSLAM,":[62],"novel":[64,187],"algorithm":[66,110,118],"dynamic":[68,90,159,166,197,217],"indoor":[69],"environments,":[70],"built":[71],"RGB-D":[73,227],"mode":[74],"ORB-SLAM2,":[76,112],"relates":[78],"problem":[81,98],"ORB":[84],"feature":[85,91,104,115,167,181,198],"uniform":[86,116],"distribution":[87,102,117],"filtering.":[92],"In":[93,149],"detail,":[94],"aiming":[95,151],"at":[96,124,152],"over-uniform":[101],"points":[105,199],"extracted":[106,157],"by":[107],"quadtree-based":[109],"meshing-based":[114],"proposed.":[120,171],"Meshes":[121],"are":[122,141,208,229],"divided":[123],"each":[125],"layer":[126],"image":[129],"pyramid,":[130],"then":[132],"specific":[134],"number":[135],"features":[137,156,207],"meshes":[140],"reserved":[142,209],"according":[143],"their":[145],"Harris":[146],"response":[147],"value.":[148],"addition,":[150],"impact":[154],"from":[158],"targets":[160],"system,":[164],"filtering":[168],"method":[169,190],"First,":[172],"stable":[174],"matching":[175,182],"relationship":[176],"established":[178],"through":[179],"method.":[184],"Then":[185],"geometric":[188],"used":[192],"filter":[194],"out":[195],"scene.":[202],"Only":[203],"remaining":[205],"static":[206],"achieve":[211],"accurate":[212],"camera":[213],"pose":[214],"estimation":[215],"environments.":[218],"Experiments":[219],"Oxford":[222],"dataset":[223,228],"public":[225],"TUM":[226],"conducted":[230],"evaluate":[232],"proposed":[234,240],"approach.":[235],"It":[236],"revealed":[237],"that":[238],"MGC-VSLAM":[241],"can":[242],"effectively":[243],"improve":[244],"positioning":[246],"ORB-SLAM2":[249],"high-dynamic":[251],"scenarios.":[252]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
