{"id":"https://openalex.org/W4308090750","doi":"https://doi.org/10.1109/ccece49351.2022.9918256","title":"Dense Reconstruction from Visual SLAM with Probabilistic Multi-Sequence Merging","display_name":"Dense Reconstruction from Visual SLAM with Probabilistic Multi-Sequence Merging","publication_year":2022,"publication_date":"2022-09-18","ids":{"openalex":"https://openalex.org/W4308090750","doi":"https://doi.org/10.1109/ccece49351.2022.9918256"},"language":"en","primary_location":{"id":"doi:10.1109/ccece49351.2022.9918256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece49351.2022.9918256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087369451","display_name":"Hanxiang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hanxiang Zhang","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023430128","display_name":"Chang Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chang Xu","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","Electrical and Computer Engineering, Dalhousie University, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Electrical and Computer Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129902397"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"8690","issue":null,"first_page":"33","last_page":"40"},"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":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7787331342697144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6859779953956604},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6858707666397095},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.6524109840393066},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6165505647659302},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.604576051235199},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.596594512462616},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5783169865608215},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5584069490432739},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2019856572151184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17151659727096558}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7787331342697144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6859779953956604},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6858707666397095},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.6524109840393066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6165505647659302},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.604576051235199},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.596594512462616},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5783169865608215},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5584069490432739},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2019856572151184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17151659727096558},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece49351.2022.9918256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece49351.2022.9918256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2133844819","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W3003455978","https://openalex.org/W3043971245","https://openalex.org/W3096741513","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W2776826689","https://openalex.org/W2145484806","https://openalex.org/W2348653124","https://openalex.org/W2089908184","https://openalex.org/W2392270594","https://openalex.org/W2156453104","https://openalex.org/W4200108838","https://openalex.org/W2392034603","https://openalex.org/W2352029666","https://openalex.org/W1586572182"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,17,19,101,113,137],"comprehensive":[4],"visual":[5],"SLAM":[6],"system":[7,51,67],"that":[8,83,128],"extends":[9],"the":[10,47,59,81,84,98,122,129,134,142],"application":[11],"of":[12,24,49,61,86,136],"ORB-SLAM3.":[13],"Using":[14],"it":[15],"as":[16,43,77],"template,":[18],"supplementary":[20],"and":[21,33,41,55,117],"optional":[22],"function":[23],"3D":[25],"dense":[26,88],"reconstruction":[27],"is":[28,63,92,105],"implemented":[29],"for":[30],"both":[31,53],"RGB-D":[32],"stereo":[34],"cameras.":[35],"With":[36],"conventional":[37],"datasets,":[38],"TUM,":[39],"EuRoC,":[40],"KITTI":[42],"benchmarks,":[44],"we":[45],"confirm":[46],"validity":[48],"proposed":[50,109],"in":[52,107],"indoor":[54],"outdoor":[56],"scenarios.":[57],"Besides,":[58],"concept":[60],"Octree":[62],"integrated":[64],"into":[65],"our":[66,108],"to":[68,94],"generate":[69],"Octomap.":[70],"A":[71],"compact":[72],"mapping":[73],"can":[74],"be":[75],"achieved":[76],"such,":[78],"verified":[79],"by":[80],"fact":[82],"size":[85],"each":[87],"point":[89],"cloud":[90],"map":[91,118],"reduced":[93],"approximately":[95],"one-fifth":[96],"after":[97],"conversion.":[99],"Furthermore,":[100],"multi-sequence":[102],"merging":[103],"method":[104],"included":[106],"system,":[110],"formulating":[111],"with":[112],"probabilistic-based":[114],"optimizing":[115],"algorithm":[116],"accessing":[119],"functions":[120],"from":[121,133],"original":[123],"system.":[124],"Multi-sequence":[125],"experiments":[126],"evince":[127],"tracking":[130],"accuracy":[131],"profits":[132],"exploitation":[135],"priori":[138],"knowledge":[139],"gathered":[140],"through":[141],"preceding":[143],"sequences.":[144]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}