{"id":"https://openalex.org/W4386453623","doi":"https://doi.org/10.1109/access.2023.3312062","title":"A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios","display_name":"A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386453623","doi":"https://doi.org/10.1109/access.2023.3312062"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3312062","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312062","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10239392.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/ielx7/6287639/6514899/10239392.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100450524","display_name":"Lin Xi","orcid":"https://orcid.org/0000-0003-0118-7391"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xi Lin","raw_affiliation_strings":["Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-0118-7391","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016931059","display_name":"Yewei Huang","orcid":"https://orcid.org/0000-0002-2505-6022"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yewei Huang","raw_affiliation_strings":["Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-2505-6022","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102751737","display_name":"Dingyi Sun","orcid":"https://orcid.org/0009-0000-6604-782X"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Dingyi Sun","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","School of Computing Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0009-0000-6604-782X","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101958946","display_name":"Tzu-Yuan Lin","orcid":"https://orcid.org/0000-0002-3442-8801"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzu-Yuan Lin","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-3442-8801","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-7966-2917","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9989-4942","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4734-4295","affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":7.8103,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96631649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"97239","last_page":"97249"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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":0.9962000250816345,"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":0.7934329509735107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7803717851638794},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7288855314254761},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6668941378593445},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.615022599697113},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5338963270187378},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5153948068618774},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4187208414077759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2973545789718628},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20104452967643738},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07354208827018738}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7934329509735107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7803717851638794},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7288855314254761},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6668941378593445},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.615022599697113},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5338963270187378},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5153948068618774},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4187208414077759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2973545789718628},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20104452967643738},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07354208827018738},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"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.2023.3312062","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312062","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10239392.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:7c0263c04d7a4fdbbeda0edd869df7cf","is_oa":true,"landing_page_url":"https://doaj.org/article/7c0263c04d7a4fdbbeda0edd869df7cf","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 11, Pp 97239-97249 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3312062","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312062","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10239392.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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386453623.pdf","grobid_xml":"https://content.openalex.org/works/W4386453623.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1503398984","https://openalex.org/W1601795611","https://openalex.org/W1612997784","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2044233231","https://openalex.org/W2064451896","https://openalex.org/W2073660060","https://openalex.org/W2091226544","https://openalex.org/W2091790851","https://openalex.org/W2109372708","https://openalex.org/W2126457740","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2509493982","https://openalex.org/W2527142681","https://openalex.org/W2535547924","https://openalex.org/W2592690225","https://openalex.org/W2805202215","https://openalex.org/W2950812798","https://openalex.org/W2951730755","https://openalex.org/W2963562098","https://openalex.org/W2963865725","https://openalex.org/W2971193004","https://openalex.org/W2977868521","https://openalex.org/W3035235001","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3207290493","https://openalex.org/W3207616048","https://openalex.org/W3214073694","https://openalex.org/W3217193728","https://openalex.org/W4211049957","https://openalex.org/W4221148846","https://openalex.org/W4247250903","https://openalex.org/W4323022393","https://openalex.org/W4323568027","https://openalex.org/W4383108801","https://openalex.org/W6768813503","https://openalex.org/W6772405110"],"related_works":["https://openalex.org/W2003315864","https://openalex.org/W2971051170","https://openalex.org/W3098467253","https://openalex.org/W4309676925","https://openalex.org/W2567328166","https://openalex.org/W197633916","https://openalex.org/W2805263639","https://openalex.org/W3121134787","https://openalex.org/W3179839739","https://openalex.org/W3039617376"],"abstract_inverted_index":{"The":[0,109],"accuracy":[1],"of":[2],"RGB-D":[3,68,98],"SLAM":[4,69,99],"systems":[5],"is":[6,112],"sensitive":[7],"to":[8,66,115,139],"the":[9,59,96],"image":[10],"quality,":[11],"and":[12,80,135],"can":[13],"be":[14],"significantly":[15],"compromised":[16],"in":[17,28,133],"adverse":[18,124],"situations":[19,125],"such":[20,126],"as":[21,127],"when":[22],"input":[23],"images":[24,137],"are":[25],"blurry,":[26],"lacking":[27,132],"texture":[29],"features,":[30,79],"or":[31],"overexposed.":[32],"In":[33],"this":[34],"paper,":[35],"based":[36],"on":[37,90],"Continuous":[38],"Direct":[39],"Sparse":[40],"Visual":[41],"Odometry":[42],"(CVO),":[43],"we":[44],"present":[45],"a":[46,67,102],"novel":[47],"Keyframe-based":[48],"CVO":[49,71],"(KF-CVO)":[50],"with":[51,74],"intrinsic":[52],"keyframe":[53],"selection":[54],"mechanism":[55],"that":[56,95],"effectively":[57],"reduces":[58],"tracking":[60],"error.":[61],"We":[62],"then":[63],"extend":[64],"KF-CVO":[65],"system,":[70],"SLAM,":[72],"equipped":[73],"place":[75],"recognition":[76],"via":[77],"ORB":[78],"joint":[81],"bundle":[82],"adjustment":[83],"&":[84],"pose":[85],"graph":[86],"optimization.":[87],"Comprehensive":[88],"evaluations":[89],"publicly":[91],"available":[92],"benchmarks":[93],"show":[94],"proposed":[97,110],"system":[100,111],"achieves":[101],"higher":[103],"success":[104],"rate":[105],"than":[106,119],"current":[107,120],"state-of-the-art-methods.":[108],"more":[113],"robust":[114],"difficult":[116],"benchmark":[117],"sequences":[118],"state-of-the-art":[121],"methods,":[122],"where":[123],"rapid":[128],"camera":[129],"motions,":[130],"environments":[131],"texture,":[134],"overexposed":[136],"due":[138],"strong":[140],"illumination":[141],"exist.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}