{"id":"https://openalex.org/W4292261858","doi":"https://doi.org/10.1109/access.2022.3199350","title":"Real-Time Dynamic SLAM Algorithm Based on Deep Learning","display_name":"Real-Time Dynamic SLAM Algorithm Based on Deep Learning","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4292261858","doi":"https://doi.org/10.1109/access.2022.3199350"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3199350","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3199350","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09858152.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/ielx7/6287639/6514899/09858152.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081343145","display_name":"Peng Su","orcid":"https://orcid.org/0000-0002-2859-8150"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Su","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2859-8150","affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067098597","display_name":"Suyun Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suyun Luo","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029575187","display_name":"Xiaoci Huang","orcid":"https://orcid.org/0000-0003-4299-8078"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoci Huang","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":33.7259,"has_fulltext":true,"cited_by_count":61,"citation_normalized_percentile":{"value":0.99656246,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"10","issue":null,"first_page":"87754","last_page":"87766"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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":0.9965999722480774,"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-science","display_name":"Computer science","score":0.8499282598495483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6573337316513062},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.6327376961708069},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6079409718513489},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5864192247390747},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5176968574523926},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4480826258659363},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42298614978790283},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.412200391292572},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4107546806335449},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18043458461761475},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14856046438217163},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10656175017356873}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8499282598495483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6573337316513062},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.6327376961708069},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6079409718513489},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5864192247390747},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5176968574523926},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4480826258659363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42298614978790283},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.412200391292572},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4107546806335449},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18043458461761475},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14856046438217163},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10656175017356873},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3199350","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3199350","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09858152.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:88b3ccb400bb41e8a07bf994952cec9d","is_oa":true,"landing_page_url":"https://doaj.org/article/88b3ccb400bb41e8a07bf994952cec9d","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 10, Pp 87754-87766 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3199350","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3199350","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09858152.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/G8106775991","display_name":null,"funder_award_id":"62101314","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/W4292261858.pdf","grobid_xml":"https://content.openalex.org/works/W4292261858.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1180867177","https://openalex.org/W1532362218","https://openalex.org/W1536680647","https://openalex.org/W1677409904","https://openalex.org/W1755205674","https://openalex.org/W1964470102","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2076917298","https://openalex.org/W2101703235","https://openalex.org/W2108134361","https://openalex.org/W2109120418","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2155204818","https://openalex.org/W2193145675","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2560023338","https://openalex.org/W2565639579","https://openalex.org/W2794473124","https://openalex.org/W2802671577","https://openalex.org/W2806070179","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2895745202","https://openalex.org/W2944474001","https://openalex.org/W2945487881","https://openalex.org/W2950989657","https://openalex.org/W2963857746","https://openalex.org/W2963881378","https://openalex.org/W3013130767","https://openalex.org/W3019173623","https://openalex.org/W3028228043","https://openalex.org/W3036875645","https://openalex.org/W3042011474","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W3108513211","https://openalex.org/W3120564201","https://openalex.org/W3120651375","https://openalex.org/W3185918112","https://openalex.org/W3196725351","https://openalex.org/W4293584584","https://openalex.org/W6750227808","https://openalex.org/W6778471983"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W2033778626","https://openalex.org/W4375867731","https://openalex.org/W4248382324","https://openalex.org/W2026780467","https://openalex.org/W4360995134","https://openalex.org/W2187110187","https://openalex.org/W2039473718"],"abstract_inverted_index":{"In":[0,77,125,158],"the":[1,9,19,37,60,67,105,121,126,144,159,163,171,175,181,185,188,193,198,204,207,228,246],"traditional":[2],"visual":[3,22,38,82,220,233,243],"simultaneous":[4],"localization":[5],"and":[6,98,142,187,217],"mapping":[7],"(SLAM),":[8],"strong":[10],"static":[11],"assumption":[12],"leads":[13,65],"to":[14,41,59,66,70,116,140,168,179,202],"a":[15,53,80,99,152],"large":[16,61],"degradation":[17],"in":[18,24,45,74,120,192,235],"accuracy":[20,205],"of":[21,55,174,184,206,232,249],"SLAM":[23,39,83,221,234,244],"dynamic":[25,43,189,236],"environments.":[26,237],"For":[27],"this":[28,78,223,250],"reason,":[29],"many":[30],"scholars":[31],"incorporate":[32],"semantic":[33,49,101,118,138,164],"segmentation":[34,50],"networks":[35,51],"into":[36],"framework":[40],"extract":[42],"information":[44,119,139,165],"images.":[46],"However,":[47],"most":[48],"consume":[52],"lot":[54],"computing":[56],"time":[57],"due":[58],"model":[62],"size,":[63],"which":[64,113,136],"algorithm&#x2019;s":[68],"inability":[69],"meet":[71],"real-time":[72,81,182,247],"requirements":[73],"practical":[75],"applications.":[76],"paper,":[79],"algorithm":[84,93,224,251],"based":[85,95,103],"on":[86,96,104],"deep":[87,241],"learning":[88],"is":[89,94,111,134,166,252],"proposed.":[90],"This":[91],"novel":[92],"ORB-SLAM2,":[97,215],"parallel":[100],"thread":[102],"lightweight":[106],"object":[107],"detection":[108],"network":[109],"YOLOv5s":[110],"designed,":[112],"enables":[114],"us":[115],"get":[117],"scene":[122],"more":[123,153],"quickly.":[124],"tracking":[127],"thread,":[128],"an":[129],"optimized":[130],"homography":[131,145],"matrix":[132,146],"module":[133],"proposed,":[135],"utilizes":[137],"optimize":[141],"solve":[143],"so":[147],"that":[148,212],"we":[149],"can":[150,225],"calculate":[151],"accurate":[154],"optical":[155,160,176,199],"flow":[156,161,177,200],"vector.":[157],"module,":[162],"used":[167],"narrow":[169],"down":[170],"calculation":[172],"range":[173],"value":[178],"improve":[180,203],"performance":[183,248],"system,":[186],"feature":[190],"points":[191],"image":[194],"are":[195],"removed":[196],"by":[197],"mask":[201],"system.":[208],"Experimental":[209],"results":[210],"show":[211],"compared":[213],"with":[214,239],"DynaSLAM,":[216],"other":[218,240],"excellent":[219],"algorithms,":[222,245],"effectively":[226],"reduce":[227],"absolute":[229],"trajectory":[230],"error":[231],"Compared":[238],"learning-based":[242],"also":[253],"significantly":[254],"improved.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
