{"id":"https://openalex.org/W4387587642","doi":"https://doi.org/10.1109/access.2023.3324146","title":"Real-Time SLAM Based on Dynamic Feature Point Elimination in Dynamic Environment","display_name":"Real-Time SLAM Based on Dynamic Feature Point Elimination in Dynamic Environment","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387587642","doi":"https://doi.org/10.1109/access.2023.3324146"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3324146","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3324146","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10283827.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/ielx7/6287639/6514899/10283827.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067063465","display_name":"Ruizhen Gao","orcid":"https://orcid.org/0000-0001-5127-6603"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]},{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruizhen Gao","raw_affiliation_strings":["School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China","Key Laboratory of Intelligent Industrial EquipmentTechnology of Hebei Province Hebei University of Engineering, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China","institution_ids":["https://openalex.org/I106079672"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial EquipmentTechnology of Hebei Province Hebei University of Engineering, China","institution_ids":["https://openalex.org/I184843921","https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058093849","display_name":"Ziheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziheng Li","raw_affiliation_strings":["School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103983338","display_name":"Junfu Li","orcid":null},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfu Li","raw_affiliation_strings":["School of Earth Science and Engineering, Hebei University of Engineering, Handan, China"],"affiliations":[{"raw_affiliation_string":"School of Earth Science and Engineering, Hebei University of Engineering, Handan, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072835010","display_name":"Baihua Li","orcid":"https://orcid.org/0000-0002-4930-7690"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Baihua Li","raw_affiliation_strings":["Department of Computer Science, Loughborough University, Loughborough, Leicestershire, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Loughborough University, Loughborough, Leicestershire, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100400217","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-7835-9871"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]},{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjun Zhang","raw_affiliation_strings":["School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China","Key Laboratory of Intelligent Industrial EquipmentTechnology of Hebei Province Hebei University of Engineering, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China","institution_ids":["https://openalex.org/I106079672"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial EquipmentTechnology of Hebei Province Hebei University of Engineering, China","institution_ids":["https://openalex.org/I184843921","https://openalex.org/I106079672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100361920","display_name":"Jun Liu","orcid":"https://orcid.org/0000-0002-7193-0622"},"institutions":[{"id":"https://openalex.org/I113389987","display_name":"Handan College","ror":"https://ror.org/03fkpw052","country_code":"CN","type":"education","lineage":["https://openalex.org/I113389987"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["Handan Textile Machinery Company Ltd., Handan, China","Handan Textile Machinery Co., Ltd, Handan, Hebei, China"],"affiliations":[{"raw_affiliation_string":"Handan Textile Machinery Company Ltd., Handan, China","institution_ids":["https://openalex.org/I113389987"]},{"raw_affiliation_string":"Handan Textile Machinery Co., Ltd, Handan, Hebei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067063465"],"corresponding_institution_ids":["https://openalex.org/I106079672","https://openalex.org/I184843921"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":9.0833,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97182589,"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":"113952","last_page":"113964"},"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":0.9987999796867371,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9958999752998352,"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":0.7856036424636841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7357020378112793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6754119992256165},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6321812868118286},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.6205223202705383},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5593361258506775},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4607577919960022},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45122119784355164},{"id":"https://openalex.org/keywords/dynamic-network-analysis","display_name":"Dynamic network analysis","score":0.44673749804496765},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2919299304485321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21278280019760132},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16393622756004333}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7856036424636841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7357020378112793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6754119992256165},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6321812868118286},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.6205223202705383},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5593361258506775},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4607577919960022},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45122119784355164},{"id":"https://openalex.org/C13540734","wikidata":"https://www.wikidata.org/wiki/Q5318996","display_name":"Dynamic network analysis","level":2,"score":0.44673749804496765},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2919299304485321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21278280019760132},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16393622756004333},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2023.3324146","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3324146","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10283827.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:d049d2e8b97945f388236afa6e8e5d4c","is_oa":true,"landing_page_url":"https://doaj.org/article/d049d2e8b97945f388236afa6e8e5d4c","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 113952-113964 (2023)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/24874365","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Real-time_SLAM_based_on_dynamic_feature_point_elimination_in_dynamic_environment/24874365","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3324146","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3324146","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10283827.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":[],"funders":[{"id":"https://openalex.org/F4320313889","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32"},{"id":"https://openalex.org/F4320320032","display_name":"Aberystwyth University","ror":"https://ror.org/015m2p889"},{"id":"https://openalex.org/F4320320341","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365"},{"id":"https://openalex.org/F4320322300","display_name":"Jilin University","ror":"https://ror.org/00js3aw79"},{"id":"https://openalex.org/F4320322701","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32"},{"id":"https://openalex.org/F4320324851","display_name":"Hebei University","ror":"https://ror.org/01p884a79"},{"id":"https://openalex.org/F4320329779","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387587642.pdf","grobid_xml":"https://content.openalex.org/works/W4387587642.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1016266425","https://openalex.org/W1536680647","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2074515009","https://openalex.org/W2076917298","https://openalex.org/W2101703235","https://openalex.org/W2102605133","https://openalex.org/W2133674408","https://openalex.org/W2193145675","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2570343428","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2883780447","https://openalex.org/W2927562344","https://openalex.org/W2950989657","https://openalex.org/W2963037989","https://openalex.org/W2963125010","https://openalex.org/W2963351448","https://openalex.org/W2963881378","https://openalex.org/W2968402026","https://openalex.org/W3012573144","https://openalex.org/W3018757597","https://openalex.org/W3089905794","https://openalex.org/W3090298435","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W3120564201","https://openalex.org/W3181311114","https://openalex.org/W3196708299","https://openalex.org/W3209586559","https://openalex.org/W4214700196","https://openalex.org/W4283586395","https://openalex.org/W4293584584","https://openalex.org/W4295129611","https://openalex.org/W4319663642","https://openalex.org/W4319988966","https://openalex.org/W4320917161","https://openalex.org/W4321608040","https://openalex.org/W4323020910","https://openalex.org/W4323022393","https://openalex.org/W4327662982","https://openalex.org/W6620707391","https://openalex.org/W6626500248","https://openalex.org/W6628973269","https://openalex.org/W6668962430","https://openalex.org/W6675026286","https://openalex.org/W6679765677","https://openalex.org/W6731892127","https://openalex.org/W6750227808","https://openalex.org/W6753494528","https://openalex.org/W6753767121","https://openalex.org/W6777046832","https://openalex.org/W6839198624"],"related_works":["https://openalex.org/W2033778626","https://openalex.org/W2026780467","https://openalex.org/W2187110187","https://openalex.org/W2018697868","https://openalex.org/W2792315845","https://openalex.org/W2002371119","https://openalex.org/W28570768","https://openalex.org/W4390492895","https://openalex.org/W2886225742","https://openalex.org/W4323662771"],"abstract_inverted_index":{"Slam":[0],"(simultaneous":[1],"localization":[2,37,167],"and":[3,14,35,56,143],"mapping)":[4],"play":[5],"an":[6,25,170],"important":[7],"role":[8],"in":[9,44,60,158,179],"the":[10,33,53,61,67,77,84,89,93,100,106,121,126,130,138,161,165,187,190],"field":[11],"of":[12,129,172,189],"artificial":[13],"driverless":[15],"intelligence.":[16],"A":[17,109],"real-time":[18],"dynamic":[19,42,46,150,159],"visual":[20,131],"SLAM":[21,132],"algorithm":[22,163],"based":[23],"on":[24,83],"object":[26,68,122,140],"detection":[27,69,123,141],"network":[28,73,94,142],"is":[29,64,74,114,146],"proposed":[30,162],"to":[31,105,116,120,148,175,185],"address":[32],"robustness":[34],"camera":[36,166],"accuracy":[38,168],"issues":[39],"caused":[40],"by":[41,96,102,169],"objects":[43],"indoor":[45],"scenes.":[47],"The":[48,71,153],"YOLOv5s":[49,107],"model,":[50],"which":[51],"has":[52],"smallest":[54],"depth":[55],"feature":[57,151],"map":[58],"width":[59],"YOLOv5":[62],"series,":[63],"chosen":[65],"as":[66],"network.":[70,80,124],"backbone":[72],"replaced":[75],"with":[76],"lightweight":[78],"ShuffleNetv2":[79],"Experimental":[81],"results":[82,155],"VOC2007":[85],"dataset":[86],"show":[87],"that":[88,157],"YOLOv5-LITE":[90],"model":[91],"reduces":[92],"parameters":[95],"41.89%and":[97],"speeds":[98],"up":[99],"runtime":[101],"39.00%":[103],"compared":[104,174],"model.":[108],"motion":[110],"level":[111],"division":[112],"strategy":[113],"adopted":[115],"provide":[117],"prior":[118],"information":[119],"In":[125],"tracking":[127],"thread":[128,136],"system,":[133],"a":[134,180],"parallel":[135],"combining":[137],"improved":[139],"multi-view":[144],"geometry":[145],"introduced":[147],"eliminate":[149],"points.":[152],"experimental":[154],"demonstrate":[156],"scenes,":[160],"improves":[164],"average":[171],"85.38%":[173],"ORB-SLAM2.":[176],"Finally,":[177],"experiments":[178],"real":[181],"environment":[182],"are":[183],"conducted":[184],"validate":[186],"effectiveness":[188],"algorithm.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}