{"id":"https://openalex.org/W3046981133","doi":"https://doi.org/10.1109/access.2020.3013806","title":"EF-Razor: An Effective Edge-Feature Processing Method in Visual SLAM","display_name":"EF-Razor: An Effective Edge-Feature Processing Method in Visual SLAM","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3046981133","doi":"https://doi.org/10.1109/access.2020.3013806","mag":"3046981133"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3013806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013806","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154451.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/ielx7/6287639/8948470/09154451.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Wen Liu","orcid":"https://orcid.org/0000-0002-6450-1969"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Liu","raw_affiliation_strings":["School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6450-1969","affiliations":[{"raw_affiliation_string":"School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080925326","display_name":"Yaokai Mo","orcid":"https://orcid.org/0000-0002-1374-1575"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaokai Mo","raw_affiliation_strings":["School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1374-1575","affiliations":[{"raw_affiliation_string":"School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054785818","display_name":"Jichao Jiao","orcid":"https://orcid.org/0000-0002-1200-5525"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jichao Jiao","raw_affiliation_strings":["School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1200-5525","affiliations":[{"raw_affiliation_string":"School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102222671","display_name":"Zhongliang Deng","orcid":"https://orcid.org/0000-0002-1984-8613"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongliang Deng","raw_affiliation_strings":["School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics Engineering, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.1877,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94828273,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"140798","last_page":"140805"},"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":0.9991999864578247,"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":0.9980000257492065,"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":0.7645522356033325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7479871511459351},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.6866108179092407},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.654394268989563},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6094849109649658},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.5760198831558228},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5344858169555664},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.531330943107605},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5301156044006348},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5243263840675354},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4698905944824219},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4347565770149231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4184727072715759},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3424738347530365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17602941393852234},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11962854862213135}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7645522356033325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7479871511459351},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.6866108179092407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.654394268989563},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6094849109649658},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.5760198831558228},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5344858169555664},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.531330943107605},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5301156044006348},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5243263840675354},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4698905944824219},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4347565770149231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4184727072715759},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3424738347530365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17602941393852234},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11962854862213135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3013806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013806","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154451.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:a04792fde13e4192bdbb8d10c1e9effb","is_oa":true,"landing_page_url":"https://doaj.org/article/a04792fde13e4192bdbb8d10c1e9effb","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 8, Pp 140798-140805 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3013806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013806","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154451.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":0.4699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G7977658553","display_name":null,"funder_award_id":"61871054","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3046981133.pdf","grobid_xml":"https://content.openalex.org/works/W3046981133.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1921054364","https://openalex.org/W2021851106","https://openalex.org/W2070902649","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2739423245","https://openalex.org/W2743012574","https://openalex.org/W2766022917","https://openalex.org/W2774634009","https://openalex.org/W2796916234","https://openalex.org/W2803444137","https://openalex.org/W2803446646","https://openalex.org/W2803673387","https://openalex.org/W2807942452","https://openalex.org/W2811184430","https://openalex.org/W2887751724","https://openalex.org/W2892177182","https://openalex.org/W2913071140","https://openalex.org/W2919115771","https://openalex.org/W2963218091","https://openalex.org/W2995385979","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W4205398292","https://openalex.org/W4293584584","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W3192389065","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W2793342246","https://openalex.org/W3210107545","https://openalex.org/W3094334615","https://openalex.org/W3094796080","https://openalex.org/W2979916171"],"abstract_inverted_index":{"Feature-based":[0],"visual":[1],"simultaneous":[2],"localization":[3,10],"and":[4,71,166],"mapping":[5],"(SLAM)":[6],"is":[7,45],"an":[8,73],"effective":[9,74],"approach":[11],"for":[12,86],"robots":[13],"in":[14,22,28,42,80,110,138],"unknown":[15],"environments.":[16],"Classic":[17],"handcrafted":[18],"features":[19,62,122],"perform":[20,167],"well":[21],"2D":[23],"image":[24,44],"matching":[25,109],"tasks.":[26],"However,":[27],"the":[29,34,37,40,43,50,61,64,67,78,87,93,97,111,118,124,130,135,139,145,149,158,177,183],"tracking":[30,112],"task":[31],"of":[32,39,49,52,66,120,148],"SLAM,":[33],"region":[35],"at":[36,63],"edge":[38,65],"object":[41,68,98],"often":[46],"unstable":[47,121],"because":[48],"lack":[51],"spatial":[53],"information.":[54],"In":[55,154],"this":[56],"paper,":[57],"we":[58,161],"refer":[59],"to":[60,76,101,133,156,164],"as":[69],"edge-features":[70,79,108],"propose":[72],"method":[75,179],"process":[77],"SLAM":[81,125],"named":[82],"Edge-Feature":[83],"Razor":[84],"(EF-Razor)":[85],"above":[88],"problems.":[89],"EF-Razor":[90,114,128,163],"first":[91],"uses":[92],"semantics":[94],"provided":[95],"by":[96,187],"detection":[99],"YOLOv3":[100],"distinguish":[102],"edge-features.":[103],"Through":[104],"additional":[105],"constraints":[106],"on":[107,123,173],"process,":[113],"can":[115],"effectively":[116,181],"reduce":[117,182],"impact":[119],"system.":[126],"Then,":[127],"adjusts":[129],"information":[131],"matrix":[132],"increase":[134],"system's":[136],"trust":[137],"filtered":[140],"features.":[141],"This":[142],"will":[143],"make":[144],"calculation":[146],"result":[147],"bundle":[150],"adjustment":[151],"more":[152],"stable.":[153],"order":[155],"evaluate":[157],"proposed":[159,178],"method,":[160],"integrate":[162],"ORB-SLAM2":[165],"experiments.":[168],"The":[169],"comparison":[170],"results":[171],"based":[172],"public":[174],"datasets":[175],"show":[176],"could":[180],"absolute":[184],"trajectory":[185],"error":[186],"7%.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}