{"id":"https://openalex.org/W4414322624","doi":"https://doi.org/10.1109/ecmr65884.2025.11163050","title":"IRAF-SLAM: An Illumination-Robust and Adaptive Feature-Culling Front-End for Visual SLAM in Challenging Environments","display_name":"IRAF-SLAM: An Illumination-Robust and Adaptive Feature-Culling Front-End for Visual SLAM in Challenging Environments","publication_year":2025,"publication_date":"2025-09-02","ids":{"openalex":"https://openalex.org/W4414322624","doi":"https://doi.org/10.1109/ecmr65884.2025.11163050"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr65884.2025.11163050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","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/A5066768815","display_name":"Thanh Nguyen Canh","orcid":"https://orcid.org/0000-0001-6332-1002"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thanh Nguyen Canh","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119665437","display_name":"Bao Nguyen Quoc","orcid":null},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Bao Nguyen Quoc","raw_affiliation_strings":["University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam,10000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam,10000","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106443566","display_name":"Haolan Zhang","orcid":"https://orcid.org/0009-0007-1742-3754"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Haolan Zhang","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119665438","display_name":"Bupesh Rethinam Veeraiah","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bupesh Rethinam Veeraiah","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022703513","display_name":"Xiem HoangVan","orcid":"https://orcid.org/0000-0002-7524-6529"},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Xiem HoangVan","raw_affiliation_strings":["University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam,10000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam,10000","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000452220","display_name":"Nak Young Chong","orcid":"https://orcid.org/0000-0001-5736-0769"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nak Young Chong","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,School of Information Science,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.3904,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.99176701,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9968000054359436,"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":0.9746999740600586,"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/visualization","display_name":"Visualization","score":0.3294000029563904},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.3231000006198883},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.29170000553131104},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.2685000002384186},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.25529998540878296}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705000162124634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5651999711990356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5475999712944031},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3231000006198883},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2290000021457672},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.22169999778270721}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr65884.2025.11163050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1532362218","https://openalex.org/W2117228865","https://openalex.org/W2141584146","https://openalex.org/W2144627501","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2937713253","https://openalex.org/W2952449183","https://openalex.org/W2962962930","https://openalex.org/W3043971245","https://openalex.org/W4280641067","https://openalex.org/W4312597286","https://openalex.org/W4360897826","https://openalex.org/W4375864179","https://openalex.org/W4393972742","https://openalex.org/W4399800811","https://openalex.org/W4406414629","https://openalex.org/W4406833169","https://openalex.org/W4408564173"],"related_works":[],"abstract_inverted_index":{"Robust":[0],"Visual":[1],"SLAM":[2,31],"(vSLAM)":[3],"is":[4,185],"essential":[5],"for":[6],"autonomous":[7],"systems":[8,32],"operating":[9],"in":[10,67,172],"real-world":[11],"environments,":[12],"where":[13],"challenges":[14],"such":[15],"as":[16],"dynamic":[17],"objects,":[18],"low":[19],"texture,":[20],"and":[21,45,58,69,82,107,110,126,136,149],"critically,":[22],"varying":[23,87],"illumination":[24,161],"conditions":[25],"often":[26],"degrade":[27],"performance.":[28],"Existing":[29],"feature-based":[30],"rely":[33],"on":[34,102,133],"fixed":[35],"front-end":[36,61,170],"parameters,":[37],"making":[38],"them":[39],"vulnerable":[40],"to":[41,63,80,155],"sudden":[42],"lighting":[43,88,128],"changes":[44],"unstable":[46],"feature":[47,93,113,120],"tracking.":[48],"To":[49],"address":[50],"these":[51],"challenges,":[52],"we":[53],"propose":[54],"\"IRAF-SLAM\",":[55],"an":[56,76,91],"Illumination-Robust":[57],"Adaptive":[59],"Feature-Culling":[60],"designed":[62],"enhance":[64],"vSLAM":[65,157,174],"resilience":[66],"complex":[68],"challenging":[70],"environments.":[71],"Our":[72],"approach":[73],"introduces:":[74],"(1)":[75],"image":[77,84,103],"enhancement":[78],"scheme":[79],"preprocess":[81],"adjust":[83],"quality":[85],"under":[86,159],"conditions;":[89],"(2)":[90],"adaptive":[92,169],"extraction":[94],"mechanism":[95],"that":[96,116,143],"dynamically":[97],"adjusts":[98],"detection":[99],"sensitivity":[100],"based":[101],"entropy,":[104],"pixel":[105],"intensity,":[106],"gradient":[108],"analysis;":[109],"(3)":[111],"a":[112,127],"culling":[114],"strategy":[115],"filters":[117],"out":[118],"unreliable":[119],"points":[121],"using":[122],"density":[123],"distribution":[124],"analysis":[125],"impact":[129],"factor.":[130],"Comprehensive":[131],"evaluations":[132],"the":[134,166],"TUM-VI":[135],"European":[137],"Robotics":[138],"Challenge":[139],"(EuRoC)":[140],"datasets":[141],"demonstrate":[142],"IRAF-SLAM":[144,184],"significantly":[145],"reduces":[146],"tracking":[147],"failures":[148],"achieves":[150],"superior":[151],"trajectory":[152],"accuracy":[153],"compared":[154],"state-of-the-art":[156],"methods":[158],"adverse":[160],"conditions.":[162],"These":[163],"results":[164],"highlight":[165],"effectiveness":[167],"of":[168,183],"strategies":[171],"improving":[173],"robustness":[175],"without":[176],"incurring":[177],"significant":[178],"computational":[179],"overhead.":[180],"The":[181],"implementation":[182],"publicly":[186],"available":[187],"at":[188],"https://thanhnguyencanh.github.io/IRAF-SLAM/.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}