{"id":"https://openalex.org/W4390486160","doi":"https://doi.org/10.1109/cis-ram55796.2023.10370026","title":"4DRT-SLAM: Robust SLAM in Smoke Environments using 4D Radar and Thermal Camera based on Dense Deep Learnt Features","display_name":"4DRT-SLAM: Robust SLAM in Smoke Environments using 4D Radar and Thermal Camera based on Dense Deep Learnt Features","publication_year":2023,"publication_date":"2023-06-09","ids":{"openalex":"https://openalex.org/W4390486160","doi":"https://doi.org/10.1109/cis-ram55796.2023.10370026"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram55796.2023.10370026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram55796.2023.10370026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5100433181","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0002-6025-9909"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104222985","display_name":"Renxiang Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Renxiang Xiao","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063453456","display_name":"Heshan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Heshan Li","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030639080","display_name":"Yiyao Liu","orcid":"https://orcid.org/0000-0002-7222-739X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yiyao Liu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113086166","display_name":"Xudong Suo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Suo","raw_affiliation_strings":["Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102323131","display_name":"Chaoyu Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyu Hong","raw_affiliation_strings":["Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088964560","display_name":"Zhongxu Lin","orcid":"https://orcid.org/0000-0002-8537-4890"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongxu Lin","raw_affiliation_strings":["Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan),Zhongshan,China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"Intelligent Mobile Robot Research Institute (Zhongshan), Zhongshan, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.5425,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.98627022,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"19","last_page":"24"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9937000274658203,"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":0.9922999739646912,"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":0.7522507905960083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7415177822113037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6583501100540161},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5789799094200134},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5214649438858032},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5201268792152405},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5189328193664551},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.516574501991272},{"id":"https://openalex.org/keywords/smoke","display_name":"Smoke","score":0.4598586857318878},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.44554203748703003},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4270508587360382},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20123085379600525},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19072049856185913},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16748389601707458},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.11416688561439514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08926600217819214}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7522507905960083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7415177822113037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6583501100540161},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5789799094200134},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5214649438858032},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5201268792152405},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5189328193664551},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.516574501991272},{"id":"https://openalex.org/C58874564","wikidata":"https://www.wikidata.org/wiki/Q130768","display_name":"Smoke","level":2,"score":0.4598586857318878},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44554203748703003},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4270508587360382},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20123085379600525},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19072049856185913},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16748389601707458},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.11416688561439514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08926600217819214},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram55796.2023.10370026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram55796.2023.10370026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2117228865","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2566680697","https://openalex.org/W2745859992","https://openalex.org/W2908175687","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2919409595","https://openalex.org/W2940793188","https://openalex.org/W2970479183","https://openalex.org/W2997532328","https://openalex.org/W3043075211","https://openalex.org/W3089387037","https://openalex.org/W3106302529","https://openalex.org/W3124420883","https://openalex.org/W3129245057","https://openalex.org/W3129883472","https://openalex.org/W3130465612","https://openalex.org/W3158799039","https://openalex.org/W3166285241","https://openalex.org/W3174203047","https://openalex.org/W3181051035","https://openalex.org/W3206505934","https://openalex.org/W4200571818","https://openalex.org/W4200609497","https://openalex.org/W4210423514","https://openalex.org/W4243493901","https://openalex.org/W4249866455","https://openalex.org/W4308080016","https://openalex.org/W4365420566","https://openalex.org/W4383108717","https://openalex.org/W4385302184"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W3161266721"],"abstract_inverted_index":{"LiDAR-":[0],"and":[1,10,15,21,31,57,68,81,92,102,148,174,182],"Visual-":[2],"SLAM":[3,65],"are":[4,60,132,166],"prone":[5],"to":[6,62,86,156],"fail":[7],"in":[8,37,66,168,184],"smoke":[9,20,67,170,185],"fog":[11,69],"environments,":[12],"because":[13],"LiDAR":[14],"visual":[16],"camera":[17,33,59],"cannot":[18],"penetrate":[19],"fog.":[22],"Fortunately,":[23],"both":[24],"4D":[25,55,76,140],"radar":[26,56,77,141],"(x,":[27],"y,":[28],"z,":[29],"velocity)":[30],"thermal":[32,58,105,116,143],"can":[34],"work":[35,44,113],"robustly":[36],"such":[38],"adverse":[39],"conditions.":[40,70],"However,":[41],"little":[42],"related":[43],"has":[45],"been":[46],"performed.":[47],"In":[48,94],"this":[49],"paper,":[50],"4DRT-SLAM":[51,179],"is":[52,78,84,154,180],"presented,":[53],"where":[54],"fused":[61],"perform":[63,98],"the":[64,72,124,136,146,158],"Since":[71],"point":[73,137],"cloud":[74,138],"of":[75,128,139],"rather":[79],"sparse":[80],"noisy,":[82],"it":[83],"difficult":[85],"extract":[87],"valid":[88],"geometric":[89],"features":[90,110,121],"(line":[91],"plane).":[93],"4DRT-SLAM,":[95],"firstly,":[96],"we":[97,118],"2D":[99],"feature":[100,130],"extraction":[101],"matching":[103],"on":[104],"images.":[106],"Considering":[107],"that":[108,178],"hand-crafted":[109],"do":[111],"not":[112],"well":[114],"for":[115],"images,":[117],"use":[119],"deep-learned":[120],"(LoFTR).":[122],"Secondly,":[123],"corresponding":[125],"3D":[126],"coordinates":[127],"these":[129],"points":[131],"obtained":[133],"by":[134],"projecting":[135],"onto":[142],"image,":[144],"with":[145],"intrinsic":[147],"extrinsic":[149],"parameters.":[150],"Thirdly,":[151],"Perspective-n-Point":[152],"(PnP)":[153],"performed":[155,167],"calculate":[157],"transformation":[159],"matrix":[160],"between":[161],"two":[162],"consecutive":[163],"frames.":[164],"Experiments":[165],"real":[169],"environments.":[171,186],"Both":[172],"quantitative":[173],"qualitative":[175],"analyses":[176],"demonstrate":[177],"effective":[181],"robust":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}