{"id":"https://openalex.org/W2786670942","doi":"https://doi.org/10.1109/icarm.2017.8273125","title":"New research on SLAM algorithm based on feature matching","display_name":"New research on SLAM algorithm based on feature matching","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2786670942","doi":"https://doi.org/10.1109/icarm.2017.8273125","mag":"2786670942"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2017.8273125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5101785598","display_name":"Lei Gao","orcid":"https://orcid.org/0000-0002-7204-0728"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Gao","raw_affiliation_strings":["Robotics Institute of Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100973385","display_name":"Peijiang Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peijiang Yuan","raw_affiliation_strings":["Robotics Institute of Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianmiao Wang","raw_affiliation_strings":["Robotics Institute of Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101593580","display_name":"Zhenyun Shi","orcid":"https://orcid.org/0000-0003-0344-8823"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyun Shi","raw_affiliation_strings":["Robotics Institute of Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355424","display_name":"Yong Li","orcid":"https://orcid.org/0000-0002-8008-0375"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation Beihang University, Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation Beihang University, Beijing","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023741628","display_name":"Shuangqian Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangqian Cao","raw_affiliation_strings":["School of Mechanical Engineering and Automation Beihang University, Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation Beihang University, Beijing","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035139556","display_name":"Xiaonan Ji","orcid":"https://orcid.org/0000-0001-5337-5031"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaonan Ji","raw_affiliation_strings":["Robotics Institute of Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"63","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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":0.9900000095367432,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7400120496749878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7033736109733582},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7025258541107178},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6976464986801147},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6568504571914673},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6323885917663574},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.575892448425293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5502899289131165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5290894508361816},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.5156258940696716},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4861590564250946},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.43272626399993896},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.43171146512031555},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22882726788520813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1362287402153015},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.1218186616897583}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7400120496749878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7033736109733582},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7025258541107178},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6976464986801147},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6568504571914673},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6323885917663574},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.575892448425293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5502899289131165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5290894508361816},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.5156258940696716},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4861590564250946},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.43272626399993896},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.43171146512031555},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22882726788520813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1362287402153015},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.1218186616897583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2017.8273125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1490770869","https://openalex.org/W1560436958","https://openalex.org/W1644391722","https://openalex.org/W1964269130","https://openalex.org/W2005047523","https://openalex.org/W2006524841","https://openalex.org/W2025587822","https://openalex.org/W2097468198","https://openalex.org/W2113906280","https://openalex.org/W2115009418","https://openalex.org/W2166973945","https://openalex.org/W2328208836","https://openalex.org/W2514902812","https://openalex.org/W3149610098"],"related_works":["https://openalex.org/W2088131065","https://openalex.org/W2005998065","https://openalex.org/W2001220299","https://openalex.org/W4323518558","https://openalex.org/W3196715007","https://openalex.org/W4399030596","https://openalex.org/W2366440988","https://openalex.org/W2358582870","https://openalex.org/W4293059742","https://openalex.org/W2082802685"],"abstract_inverted_index":{"In":[0,74],"this":[1,33,78],"paper,":[2],"we":[3],"study":[4],"the":[5,8,21,36,47,54,61,75,84,101,115,121,136,139,146,152],"technology":[6],"of":[7,23,38,56,60,88,94,114],"robot":[9,128,133],"environment":[10],"map":[11,69],"building":[12],"based":[13],"on":[14],"laser":[15,89],"radar":[16,90],"scanner":[17],"(SLAM).":[18],"Aiming":[19],"at":[20],"problem":[22],"high":[24,27,62,72],"computation":[25],"and":[26,42,51,112,119,138,155],"dimension":[28],"matching":[29],"in":[30],"SLAM":[31,57],"technology,":[32],"paper":[34,79],"takes":[35],"method":[37],"reducing":[39],"resource":[40],"consumption":[41],"improving":[43],"data":[44,87],"association":[45],"as":[46],"research":[48],"starting":[49],"point,":[50],"puts":[52],"forward":[53],"framework":[55],"algorithm.":[58],"Because":[59],"density":[63],"environmental":[64],"characteristics":[65],"will":[66,107],"lead":[67],"to":[68,92,124,144,150],"growth":[70],"with":[71],"rate.":[73],"first":[76],"part,":[77],"extracts":[80],"segment":[81],"descriptors":[82],"from":[83],"point":[85],"cloud":[86],"scanners":[91],"establish":[93],"local":[95],"sparse":[96],"feature":[97,106],"map.":[98],"Then,":[99],"extract":[100],"Matching":[102,105],"feature.":[103],"The":[104],"be":[108],"used":[109,143],"for":[110],"registration":[111,122],"prediction":[113,141],"robot's":[116],"view":[117],"measurement":[118],"use":[120],"results":[123],"correct":[125],"dead":[126],"reckoning":[127],"model,":[129],"getting":[130],"more":[131],"accurate":[132],"pose.":[134],"Finally,":[135],"position":[137,154],"observation":[140],"are":[142],"achieve":[145],"Extend":[147],"Calman":[148],"filter":[149],"obtain":[151],"final":[153],"attitude":[156],"estimation.":[157]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}