{"id":"https://openalex.org/W4386159344","doi":"https://doi.org/10.1109/icarm58088.2023.10218867","title":"A Real-Time Robot Location Algorithm Based on Improved Point-Line Feature Fusion","display_name":"A Real-Time Robot Location Algorithm Based on Improved Point-Line Feature Fusion","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159344","doi":"https://doi.org/10.1109/icarm58088.2023.10218867"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218867","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","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/A5101405633","display_name":"Ling Guan","orcid":"https://orcid.org/0000-0002-3306-5551"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]},{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ling Guan","raw_affiliation_strings":["China MCC17 Group Company Ltd.,Ma&#x0027;anshan,China","School of Electrical and Information Engineering, Anhui University of Technology, Ma'anshan, Anhui, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China MCC17 Group Company Ltd.,Ma&#x0027;anshan,China","institution_ids":["https://openalex.org/I3174185376"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Anhui University of Technology, Ma'anshan, Anhui, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009220279","display_name":"Rencai Jin","orcid":"https://orcid.org/0000-0002-8028-3658"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rencai Jin","raw_affiliation_strings":["China MCC17 Group Company Ltd.,Ma&#x0027;anshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China MCC17 Group Company Ltd.,Ma&#x0027;anshan,China","institution_ids":["https://openalex.org/I3174185376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380715","display_name":"Dan Li","orcid":"https://orcid.org/0009-0000-1575-6482"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Li","raw_affiliation_strings":["School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100708065","display_name":"Junxiang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiang Li","raw_affiliation_strings":["School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106403416","display_name":"Lu Yu","orcid":"https://orcid.org/0000-0002-0550-7754"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Lu","raw_affiliation_strings":["School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China","institution_ids":["https://openalex.org/I92178344"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5621,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89237991,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"1901","issue":null,"first_page":"534","last_page":"538"},"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":0.9983999729156494,"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":0.9947999715805054,"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":0.6884233951568604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6568500399589539},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6369233727455139},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5934461355209351},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.586933970451355},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5831257104873657},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5800907015800476},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5464800596237183},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5347788333892822},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.521769106388092},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5208092927932739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5073875784873962},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45524734258651733},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45098811388015747},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.42863065004348755},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4223136305809021},{"id":"https://openalex.org/keywords/blossom-algorithm","display_name":"Blossom algorithm","score":0.42075833678245544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30122652649879456},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21432650089263916}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6884233951568604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6568500399589539},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6369233727455139},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5934461355209351},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.586933970451355},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5831257104873657},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5800907015800476},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5464800596237183},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5347788333892822},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.521769106388092},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5208092927932739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5073875784873962},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45524734258651733},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45098811388015747},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.42863065004348755},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4223136305809021},{"id":"https://openalex.org/C61455927","wikidata":"https://www.wikidata.org/wiki/Q1030529","display_name":"Blossom algorithm","level":3,"score":0.42075833678245544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30122652649879456},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21432650089263916},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218867","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":20,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2008849352","https://openalex.org/W2118223742","https://openalex.org/W2119605622","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2211874131","https://openalex.org/W2218842719","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2963200201","https://openalex.org/W3006524014","https://openalex.org/W3092045196","https://openalex.org/W3124420883","https://openalex.org/W4394659040","https://openalex.org/W6773717968","https://openalex.org/W6784410685","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W1750372561","https://openalex.org/W2991246638","https://openalex.org/W1501082329"],"abstract_inverted_index":{"The":[0,85,93],"traditional":[1],"robot":[2],"real-time":[3],"positioning":[4],"and":[5,24,129,154,180],"mapping":[6],"(SLAM)":[7],"algorithm":[8,170,179],"has":[9],"the":[10,26,29,67,72,80,83,98,105,113,117,120,133,143,156,160,177,185,191],"problem":[11],"of":[12,14,28,55,69,82,116,168,193],"over-extraction":[13],"line":[15,74,91,109],"segments":[16],"in":[17,66,142],"dense":[18],"environments,":[19],"which":[20,188],"leads":[21],"to":[22,79,103,111,132,176,184],"mis-matching":[23],"reduces":[25],"accuracy":[27,81],"system.":[30],"To":[31],"solve":[32],"this":[33,35,169,194],"problem,":[34],"paper":[36],"proposes":[37],"a":[38,88],"visual":[39,122],"SLAM":[40],"method":[41,76],"called":[42],"IPLI-SLAM":[43],"based":[44,96],"on":[45,97],"an":[46],"improved":[47],"point-line":[48,121],"combination":[49],"tightly":[50,125],"coupled":[51,126],"with":[52,107,127,148],"IMU.":[53],"First":[54],"all,":[56],"Shi-Tomasi":[57],"feature":[58,63],"is":[59,77,95,124,171],"used":[60],"for":[61,135],"point":[62],"extraction.":[64,92],"Secondly,":[65],"aspect":[68],"online":[70],"extraction,":[71],"LSD":[73],"detection":[75],"modified":[78],"algorithm.":[84,118,195],"system":[86],"sets":[87],"filter":[89,94,104],"before":[90],"pixel":[99],"gradient":[100],"density":[101],"setting":[102],"environment":[106],"more":[108],"textures":[110],"reduce":[112],"error":[114],"matching":[115],"Finally,":[119],"information":[123],"IMU":[128],"then":[130],"added":[131],"back-end":[134],"optimization.":[136],"By":[137],"testing":[138],"eight":[139],"different":[140],"sequences":[141],"open":[144],"source":[145],"dataset":[146],"EuRoc":[147],"three":[149],"difficulty":[150],"levels:":[151],"easy,":[152],"medium":[153],"hard,":[155],"results":[157],"show":[158],"that":[159],"trajectory":[161],"RMSE":[162],"value":[163],"(root":[164],"mean":[165],"square":[166],"error)":[167],"reduced":[172],"by":[173,181],"50.7%":[174],"compared":[175,183],"VINS-mono":[178],"13.2%":[182],"PL-vins":[186],"algorithm,":[187],"fully":[189],"demonstrates":[190],"effectiveness":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
