{"id":"https://openalex.org/W3130898021","doi":"https://doi.org/10.1109/access.2021.3059866","title":"Robust Stereo Visual SLAM for Dynamic Environments With Moving Object","display_name":"Robust Stereo Visual SLAM for Dynamic Environments With Moving Object","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3130898021","doi":"https://doi.org/10.1109/access.2021.3059866","mag":"3130898021"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3059866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059866","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09355160.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/ielx7/6287639/9312710/09355160.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101853382","display_name":"Gang Li","orcid":"https://orcid.org/0000-0003-0479-4920"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Li","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0003-0479-4920","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103212418","display_name":"Xiang Liao","orcid":"https://orcid.org/0000-0003-0765-6080"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Liao","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0003-0765-6080","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087352792","display_name":"Huilan Huang","orcid":"https://orcid.org/0000-0002-2643-4611"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilan Huang","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0002-2643-4611","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061758760","display_name":"Shaojian Song","orcid":"https://orcid.org/0000-0003-4899-3606"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaojian Song","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0003-4899-3606","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101741387","display_name":"Bin Liu","orcid":"https://orcid.org/0000-0001-7194-4496"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liu","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0001-7194-4496","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103080243","display_name":"Yawen Zeng","orcid":"https://orcid.org/0000-0002-7541-6217"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yawen Zeng","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0002-7541-6217","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150807315"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":22.418,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98942726,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"32310","last_page":"32320"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8363661766052246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7689650654792786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7485195994377136},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5673287510871887},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5496233701705933},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.33838433027267456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28262001276016235},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2726650536060333}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8363661766052246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7689650654792786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7485195994377136},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5673287510871887},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5496233701705933},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.33838433027267456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28262001276016235},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2726650536060333}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3059866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059866","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09355160.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:a7e3855cdb584b28abfed7a9d6853f93","is_oa":true,"landing_page_url":"https://doaj.org/article/a7e3855cdb584b28abfed7a9d6853f93","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 32310-32320 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3059866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059866","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09355160.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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G2251052608","display_name":null,"funder_award_id":"Grant 51466001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2907041538","display_name":null,"funder_award_id":"2017GXNSFAA198344","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"},{"id":"https://openalex.org/G5435029069","display_name":"\u5229\u7528\u55b7\u5c04\u5668\u5185\u6fc0\u6ce2\u6548\u5e94\u63d0\u9ad8\u8de8\u4e34\u754cCO2\u538b\u7f29/\u55b7\u5c04\u5236\u51b7\u7cfb\u7edf\u6027\u80fd\u7684\u673a\u7406\u7814\u7a76","funder_award_id":"51466001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7166233062","display_name":null,"funder_award_id":"2017GXNSFDA198042","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322768","display_name":"Natural Science Foundation of Guangxi Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3130898021.pdf","grobid_xml":"https://content.openalex.org/works/W3130898021.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1677409904","https://openalex.org/W1943880421","https://openalex.org/W1979266466","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2053740312","https://openalex.org/W2068763856","https://openalex.org/W2085261163","https://openalex.org/W2086377490","https://openalex.org/W2095469618","https://openalex.org/W2100183724","https://openalex.org/W2101703235","https://openalex.org/W2102823725","https://openalex.org/W2113243634","https://openalex.org/W2115579991","https://openalex.org/W2117248802","https://openalex.org/W2118246710","https://openalex.org/W2118877769","https://openalex.org/W2145568968","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2170282673","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2735010494","https://openalex.org/W2788608285","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2945290121","https://openalex.org/W2950989657","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W6637400245","https://openalex.org/W6668041581","https://openalex.org/W6677548441"],"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":{"The":[0,55],"accuracy":[1,110,156],"of":[2,6,66,113,157],"localization":[3,14,109,153],"and":[4,15,69,77,92,111,128,154],"mapping":[5,16,155],"automated":[7],"guided":[8],"vehicles":[9],"(AGVs)":[10],"using":[11],"visual":[12],"simultaneous":[13],"(SLAM)":[17],"is":[18,53,100],"significantly":[19],"reduced":[20,140],"in":[21,124,133,159],"a":[22,27,43],"dynamic":[23,37,50,59,84,89,136,160],"environment":[24,29,137],"compared":[25,143],"to":[26,31,102,106],"static":[28,98],"due":[30],"incorrect":[32],"data":[33],"association":[34],"caused":[35],"by":[36,141],"objects.":[38],"To":[39],"solve":[40],"this":[41],"problem,":[42],"robust":[44],"stereo":[45],"SLAM":[46],"algorithm":[47,56,121],"based":[48],"on":[49],"region":[51],"rejection":[52],"proposed.":[54],"first":[57],"detects":[58],"feature":[60,90],"points":[61,91],"from":[62,88],"the":[63,72,97,104,108,114,119,125,129,134,145,152],"fundamental":[64],"matrix":[65],"consecutive":[67],"frames":[68],"then":[70],"divides":[71],"current":[73],"frame":[74],"into":[75],"superpixels":[76],"labels":[78],"its":[79],"boundaries":[80,94],"with":[81,144],"disparity.":[82],"Finally,":[83],"regions":[85],"are":[86],"obtained":[87],"superpixel":[93],"types;":[95],"only":[96],"area":[99],"used":[101],"estimate":[103],"pose":[105],"improve":[107,151],"robustness":[112],"algorithm.":[115],"Experiments":[116],"show":[117],"that":[118],"proposed":[120],"outperforms":[122],"ORB-SLAM2":[123],"KITTI":[126],"dataset,":[127],"absolute":[130],"trajectory":[131],"error":[132],"actual":[135],"can":[138,149],"be":[139],"84%":[142],"conventional":[146],"ORB-SLAM2,":[147],"which":[148],"effectively":[150],"AGVs":[158],"environments.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-04T07:58:01.006859","created_date":"2025-10-10T00:00:00"}
