{"id":"https://openalex.org/W3120190381","doi":"https://doi.org/10.1109/access.2021.3049801","title":"PL-GM:RGB-D SLAM With a Novel 2D and 3D Geometric Constraint Model of Point and Line Features","display_name":"PL-GM:RGB-D SLAM With a Novel 2D and 3D Geometric Constraint Model of Point and Line Features","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3120190381","doi":"https://doi.org/10.1109/access.2021.3049801","mag":"3120190381"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3049801","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049801","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316710.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/ielx7/6287639/9312710/09316710.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101776975","display_name":"Chenyang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenyang Zhang","raw_affiliation_strings":["School of Earth Sciences and Engineering, Hohai University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-2687-000X","affiliations":[{"raw_affiliation_string":"School of Earth Sciences and Engineering, Hohai University, Nanjing, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101776975"],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":19.2168,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.98675954,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"9958","last_page":"9971"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9955999851226807,"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":0.7624211311340332},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7617042064666748},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7134830951690674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6302741169929504},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.571029007434845},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5508626699447632},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5448042154312134},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5131965279579163},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5101907253265381},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4685289263725281},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.44223302602767944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.272386372089386},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20682552456855774},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1639547049999237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08325186371803284},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07266220450401306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06871223449707031},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.062486737966537476}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7624211311340332},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7617042064666748},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7134830951690674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6302741169929504},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.571029007434845},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5508626699447632},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5448042154312134},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5131965279579163},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5101907253265381},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4685289263725281},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.44223302602767944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.272386372089386},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20682552456855774},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1639547049999237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08325186371803284},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07266220450401306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06871223449707031},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.062486737966537476},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3049801","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049801","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316710.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:75734c370f6c4fddbfc6b899534be1a3","is_oa":true,"landing_page_url":"https://doaj.org/article/75734c370f6c4fddbfc6b899534be1a3","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 9, Pp 9958-9971 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3049801","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049801","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316710.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/G355834085","display_name":null,"funder_award_id":"B200203106","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320320283","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"},{"id":"https://openalex.org/F4320325564","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3120190381.pdf","grobid_xml":"https://content.openalex.org/works/W3120190381.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1530110590","https://openalex.org/W1608041808","https://openalex.org/W1972671602","https://openalex.org/W1974777989","https://openalex.org/W1991765360","https://openalex.org/W2005216741","https://openalex.org/W2008849352","https://openalex.org/W2021278996","https://openalex.org/W2021851106","https://openalex.org/W2029309217","https://openalex.org/W2058535340","https://openalex.org/W2064451896","https://openalex.org/W2069479606","https://openalex.org/W2079133440","https://openalex.org/W2085261163","https://openalex.org/W2087627746","https://openalex.org/W2095614026","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2146881125","https://openalex.org/W2148228392","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2160072137","https://openalex.org/W2173782939","https://openalex.org/W2185786809","https://openalex.org/W2211874131","https://openalex.org/W2325875371","https://openalex.org/W2411918187","https://openalex.org/W2509493982","https://openalex.org/W2517242201","https://openalex.org/W2535547924","https://openalex.org/W2738596250","https://openalex.org/W2796916234","https://openalex.org/W2896177745","https://openalex.org/W2897491790","https://openalex.org/W2903284225","https://openalex.org/W2909633328","https://openalex.org/W2951376269","https://openalex.org/W2959389829","https://openalex.org/W2962461542","https://openalex.org/W2963200201","https://openalex.org/W2963218091","https://openalex.org/W2989928761","https://openalex.org/W3004008537","https://openalex.org/W3012138391","https://openalex.org/W3012238090","https://openalex.org/W3081814165","https://openalex.org/W3102327032","https://openalex.org/W3141641149","https://openalex.org/W4285719527","https://openalex.org/W6618872416","https://openalex.org/W6643921888","https://openalex.org/W6724925041","https://openalex.org/W6755731354"],"related_works":["https://openalex.org/W2416513692","https://openalex.org/W2751063144","https://openalex.org/W3103125695","https://openalex.org/W2367481874","https://openalex.org/W4243215409","https://openalex.org/W2074965918","https://openalex.org/W4389352471","https://openalex.org/W4365211488","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"In":[0],"the":[1,26,46,50,64,98,119,135,144,169,205],"study":[2],"of":[3,12,79,127,139,147],"RGB-D":[4,31,41,86,106,184],"SLAM":[5,42,129,207],"(Simultaneous":[6],"Localization":[7],"and":[8,17,36,52,62,66,71,81,101,112,141,150,154,157,186,212,215],"Mapping),":[9],"two":[10,181],"types":[11],"primary":[13],"visual":[14],"features,":[15,19,143,214],"point":[16,51,111,140,211,216],"line":[18,53,113,142,213],"have":[20,177],"been":[21,178],"widely":[22],"utilized":[23,116],"to":[24,117,134,168],"calculate":[25],"camera":[27,32,60,87,107],"pose.":[28],"As":[29],"an":[30,85,105],"can":[33],"capture":[34],"RGB":[35],"depth":[37],"information":[38,48,68],"simultaneously,":[39],"most":[40,125],"methods":[43,208],"only":[44],"utilize":[45,63],"2D":[47,65,110,136],"within":[49,69],"features.":[54,217],"To":[55],"obtain":[56],"a":[57,74,159,187,199],"higher":[58],"accuracy":[59],"pose":[61],"3D":[67,99,148],"points":[70,80,100,149],"lines":[72,82,102,151],"better,":[73],"novel":[75],"geometric":[76],"constraint":[77,145],"model":[78,162,172],"(PL-GM)":[83],"using":[84],"is":[88,122,166],"proposed":[89],"in":[90,132],"this":[91],"paper.":[92],"Our":[93],"contributions":[94],"are":[95,115,152],"threefold.":[96],"Firstly,":[97],"generated":[103],"by":[104],"combining":[108],"with":[109],"features":[114],"establish":[118],"PL-GM,":[120],"which":[121],"different":[123],"from":[124],"models":[126],"point-line":[128],"(PL-SLAM).":[130],"Secondly,":[131],"addition":[133],"re-projection":[137],"error":[138],"errors":[146],"constructed":[153],"minimized":[155],"likewise,":[156],"then":[158],"unified":[160],"optimization":[161],"based":[163,209],"on":[164,180,210],"PL-GM":[165],"extended":[167],"bundle":[170],"adjustment":[171],"(BA).":[173],"Finally,":[174],"extensive":[175],"experiments":[176],"performed":[179],"public":[182],"benchmark":[183],"datasets":[185],"real":[188],"scenario":[189],"sequence.":[190],"These":[191],"experimental":[192],"results":[193],"demonstrate":[194],"that":[195],"our":[196],"method":[197],"achieves":[198],"comparable":[200],"or":[201],"better":[202],"performance":[203],"than":[204],"state-of-the-art":[206]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}