{"id":"https://openalex.org/W4200373334","doi":"https://doi.org/10.1109/iccais52680.2021.9624536","title":"DBLD-SLAM: A Deep-Learning Visual SLAM System Based on Deep Binary Local Descriptor","display_name":"DBLD-SLAM: A Deep-Learning Visual SLAM System Based on Deep Binary Local Descriptor","publication_year":2021,"publication_date":"2021-10-14","ids":{"openalex":"https://openalex.org/W4200373334","doi":"https://doi.org/10.1109/iccais52680.2021.9624536"},"language":"en","primary_location":{"id":"doi:10.1109/iccais52680.2021.9624536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais52680.2021.9624536","pdf_url":null,"source":{"id":"https://openalex.org/S4363608071","display_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","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/A5100574133","display_name":"Xuefeng Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuefeng Gu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684138","display_name":"Yafei Wang","orcid":"https://orcid.org/0000-0003-4880-5054"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090325601","display_name":"Taiyuan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taiyuan Ma","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100574133"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.5029,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.90971948,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962000250816345,"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":0.8258755803108215},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7216389775276184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7144817113876343},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.6769553422927856},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5910661816596985},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5650301575660706},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5541747808456421},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5129556059837341},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4652451276779175},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.46401771903038025},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.4585442841053009},{"id":"https://openalex.org/keywords/local-binary-patterns","display_name":"Local binary patterns","score":0.45122969150543213},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.431488037109375},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.243668794631958},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.20708391070365906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17091074585914612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12402823567390442},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10718059539794922}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8258755803108215},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7216389775276184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7144817113876343},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.6769553422927856},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5910661816596985},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5650301575660706},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5541747808456421},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5129556059837341},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4652451276779175},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.46401771903038025},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.4585442841053009},{"id":"https://openalex.org/C87335442","wikidata":"https://www.wikidata.org/wiki/Q2494345","display_name":"Local binary patterns","level":4,"score":0.45122969150543213},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.431488037109375},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.243668794631958},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.20708391070365906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17091074585914612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12402823567390442},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10718059539794922},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccais52680.2021.9624536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais52680.2021.9624536","pdf_url":null,"source":{"id":"https://openalex.org/S4363608071","display_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G136111005","display_name":null,"funder_award_id":"52072243","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W753012316","https://openalex.org/W1612997784","https://openalex.org/W1893620550","https://openalex.org/W2097696373","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2117539524","https://openalex.org/W2126338221","https://openalex.org/W2151103935","https://openalex.org/W2156854610","https://openalex.org/W2461086877","https://openalex.org/W2509619282","https://openalex.org/W2555771853","https://openalex.org/W2561074213","https://openalex.org/W2598634450","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2612112834","https://openalex.org/W2618039218","https://openalex.org/W2737260104","https://openalex.org/W2737652487","https://openalex.org/W2739423245","https://openalex.org/W2779423082","https://openalex.org/W2897828525","https://openalex.org/W2919115771","https://openalex.org/W2960033181","https://openalex.org/W2963748588","https://openalex.org/W2963775347","https://openalex.org/W2990812069","https://openalex.org/W3004213029","https://openalex.org/W3043075211","https://openalex.org/W3089846185","https://openalex.org/W3106440972","https://openalex.org/W3118462215","https://openalex.org/W3132270109","https://openalex.org/W4255437949","https://openalex.org/W6622239757","https://openalex.org/W6738345448"],"related_works":["https://openalex.org/W3093612317","https://openalex.org/W3003836766","https://openalex.org/W4299822940","https://openalex.org/W2279398222","https://openalex.org/W2404514746","https://openalex.org/W2116298349","https://openalex.org/W2085553065","https://openalex.org/W4284893475","https://openalex.org/W2732542196","https://openalex.org/W3110752836"],"abstract_inverted_index":{"The":[0],"feature":[1,47,61,89],"quality":[2],"is":[3,39,104],"critical":[4],"for":[5],"positioning":[6],"accuracy":[7],"of":[8,119],"feature-descriptor-matching-based":[9],"visual":[10,60,117],"SLAM":[11,100,149],"(Visual":[12],"Simultaneous":[13],"Localization":[14],"and":[15,22,80,138],"Mapping).":[16],"State-of-the-art":[17],"handcrafted":[18],"descriptors":[19],"like":[20],"BRIEF":[21],"ORB":[23,96,109],"can":[24],"hardly":[25],"work":[26],"well":[27],"in":[28,111],"complex":[29],"scenarios.":[30],"On":[31],"the":[32,92,108,135,142],"other":[33,146],"hand,":[34],"CNN":[35,55],"(Convolutional":[36],"Neural":[37],"Network)":[38],"proved":[40],"to":[41,57,121],"have":[42],"tremendous":[43],"advantages":[44],"on":[45,84,134,151],"image":[46,64],"extraction.":[48],"In":[49],"this":[50,85],"paper,":[51],"we":[52],"develop":[53],"a":[54,98],"model":[56],"extract":[58],"binary":[59,88],"descriptor":[62,90,110,130],"from":[63],"patches":[65],"with":[66,95],"four":[67],"important":[68],"loss":[69,79],"functions,":[70],"namely":[71],"adaptive":[72],"scale":[73],"loss,":[74,77],"even":[75],"distribution":[76],"quantization":[78],"correlation":[81],"loss.":[82],"Based":[83],"learned":[86],"deep":[87],"sharing":[91],"same":[93],"structure":[94],"descriptor,":[97],"monocular":[99],"system":[101,144,150],"named":[102],"DBLD-SLAM":[103,143],"designed,":[105],"by":[106],"replacing":[107],"conventional":[112],"ORB-SLAM.":[113],"We":[114],"also":[115],"train":[116],"Bag":[118],"Words":[120],"detect":[122],"loop":[123],"closure.":[124],"Experiments":[125],"show":[126],"that":[127],"our":[128],"DBLD":[129],"achieves":[131],"better":[132],"results":[133],"HPatches":[136],"dataset":[137],"UBC":[139],"benchmark.":[140],"Moreover,":[141],"outperforms":[145],"current":[147],"popular":[148],"Tartanair":[152],"dataset.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}