{"id":"https://openalex.org/W3089699007","doi":"https://doi.org/10.1109/icip40778.2020.9191192","title":"KRF-SLAM: A Robust AI Slam Based On Keypoint Resampling And Fusion","display_name":"KRF-SLAM: A Robust AI Slam Based On Keypoint Resampling And Fusion","publication_year":2020,"publication_date":"2020-09-30","ids":{"openalex":"https://openalex.org/W3089699007","doi":"https://doi.org/10.1109/icip40778.2020.9191192","mag":"3089699007"},"language":"en","primary_location":{"id":"doi:10.1109/icip40778.2020.9191192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip40778.2020.9191192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Image Processing (ICIP)","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/A5068292304","display_name":"W.M. Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wai Mun Wong","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050467091","display_name":"Christopher Lim","orcid":"https://orcid.org/0000-0003-2781-7187"},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Christopher Lim","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072338729","display_name":"Chia-Da Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chia-Da Lee","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112395743","display_name":"Li-Lian Wang","orcid":"https://orcid.org/0000-0002-2735-9019"},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lilian Wang","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078216538","display_name":"Shih-Che Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shih-Che Chen","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018848938","display_name":"Pei-Kuei Tsung","orcid":"https://orcid.org/0009-0008-8592-3758"},"institutions":[{"id":"https://openalex.org/I173632517","display_name":"MediaTek (China)","ror":"https://ror.org/05xvgy636","country_code":"CN","type":"company","lineage":["https://openalex.org/I173632517","https://openalex.org/I4210148979"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei-Kuei Tsung","raw_affiliation_strings":["Mediatek"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mediatek","institution_ids":["https://openalex.org/I173632517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I173632517"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.19595426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"296","last_page":"299"},"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":0.9993000030517578,"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":0.9977999925613403,"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/resampling","display_name":"Resampling","score":0.8352343440055847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7809781432151794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6181948781013489},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5725001096725464},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5565680861473083},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5389356017112732},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5387057065963745},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4938676953315735},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4596215784549713},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45055484771728516},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.43929627537727356},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4348500967025757},{"id":"https://openalex.org/keywords/region-of-interest","display_name":"Region of interest","score":0.43008050322532654},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4115644097328186},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07518476247787476},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06001743674278259}],"concepts":[{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.8352343440055847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7809781432151794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6181948781013489},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5725001096725464},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5565680861473083},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5389356017112732},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5387057065963745},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4938676953315735},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4596215784549713},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45055484771728516},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.43929627537727356},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4348500967025757},{"id":"https://openalex.org/C19609008","wikidata":"https://www.wikidata.org/wiki/Q2138203","display_name":"Region of interest","level":2,"score":0.43008050322532654},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4115644097328186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07518476247787476},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06001743674278259},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icip40778.2020.9191192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip40778.2020.9191192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Image Processing (ICIP)","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":14,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2960033181","https://openalex.org/W2961749418","https://openalex.org/W2963748588","https://openalex.org/W3043075211","https://openalex.org/W6629564929","https://openalex.org/W6631707545","https://openalex.org/W6747043499","https://openalex.org/W6765499649"],"related_works":["https://openalex.org/W2052515325","https://openalex.org/W2050948537","https://openalex.org/W2767646790","https://openalex.org/W2352041579","https://openalex.org/W1488006380","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Artificial":[0],"Intelligence":[1],"(AI)":[2],"based":[3,38],"feature":[4],"extractors":[5],"provide":[6],"new":[7],"possibility":[8],"in":[9],"the":[10,20,32,59,66,72,74,83],"localization":[11],"problem":[12],"because":[13],"of":[14],"trainable":[15],"characteristic.":[16],"In":[17],"this":[18],"paper,":[19],"confidence":[21,41],"information":[22],"from":[23],"AI":[24],"learning":[25],"process":[26],"is":[27,100,108],"used":[28,63],"to":[29,46,51,64],"further":[30],"improve":[31],"accuracy.":[33],"By":[34],"resampling":[35],"interest":[36,49,69],"points":[37,50],"on":[39,95],"different":[40],"thresholds,":[42],"we":[43],"are":[44,62],"able":[45],"pixel-stack":[47],"highlyconfident":[48],"increase":[52],"their":[53],"bias":[54],"for":[55],"pose":[56],"optimization.":[57],"Then,":[58],"complementary":[60],"descriptors":[61],"describe":[65],"pixel":[67],"stacked":[68],"points.":[70],"As":[71],"result,":[73],"proposed":[75],"Keypoint":[76],"Resampling":[77],"and":[78,107],"Fusion":[79],"(KRF)":[80],"method":[81],"improves":[82],"absolute":[84],"trajectory":[85],"error":[86],"by":[87],"40%":[88],"over":[89],"state-of":[90],"the-art":[91],"vision":[92],"SLAM":[93],"algorithm":[94],"TUM":[96],"Freiburg":[97],"dataset.":[98],"It":[99],"also":[101],"more":[102],"robust":[103],"against":[104],"tracking":[105],"lost,":[106],"compatible":[109],"with":[110],"existing":[111],"optimizers.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
