{"id":"https://openalex.org/W2890213701","doi":"https://doi.org/10.1109/icra.2018.8460681","title":"StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments","display_name":"StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890213701","doi":"https://doi.org/10.1109/icra.2018.8460681","mag":"2890213701"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5019136475","display_name":"Raluca Scona","orcid":"https://orcid.org/0000-0003-2031-0893"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Raluca Scona","raw_affiliation_strings":["School of Engineering & Physical Sciences, Heriot-Watt University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Physical Sciences, Heriot-Watt University, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054987598","display_name":"Mariano Jaimez","orcid":"https://orcid.org/0000-0002-1885-2821"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mariano Jaimez","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034972272","display_name":"Yvan P\u00e9tillot","orcid":"https://orcid.org/0000-0002-1596-289X"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yvan R. Petillot","raw_affiliation_strings":["School of Engineering & Physical Sciences, Heriot-Watt University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Physical Sciences, Heriot-Watt University, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087710605","display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019136475"],"corresponding_institution_ids":["https://openalex.org/I32062511"],"apc_list":null,"apc_paid":null,"fwci":185.2473,"has_fulltext":false,"cited_by_count":214,"citation_normalized_percentile":{"value":0.99971332,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3849","last_page":"3856"},"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":0.9987000226974487,"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":0.9987000226974487,"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":0.8225641250610352},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8151785135269165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7689502835273743},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6996731758117676},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6654806137084961},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5463831424713135},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.535653293132782},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5303317308425903},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4169726073741913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26669883728027344},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1580580472946167}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8225641250610352},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8151785135269165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7689502835273743},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6996731758117676},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6654806137084961},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5463831424713135},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.535653293132782},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5303317308425903},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4169726073741913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26669883728027344},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1580580472946167},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:b06224b2-62dd-459f-bbf7-1352dbbb5dc8","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:b06224b2-62dd-459f-bbf7-1352dbbb5dc8","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1639700302","https://openalex.org/W1716229439","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W2013345945","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2052972204","https://openalex.org/W2064451896","https://openalex.org/W2065906272","https://openalex.org/W2071906076","https://openalex.org/W2108134361","https://openalex.org/W2179541323","https://openalex.org/W2248805773","https://openalex.org/W2250172176","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2670684868","https://openalex.org/W2737068486","https://openalex.org/W2774394625","https://openalex.org/W3102327032","https://openalex.org/W3106487434","https://openalex.org/W6637636807","https://openalex.org/W6676402299","https://openalex.org/W6685375852","https://openalex.org/W6691536624","https://openalex.org/W6691696098","https://openalex.org/W6746757934"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2510582230","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305","https://openalex.org/W1977636359","https://openalex.org/W2772305933","https://openalex.org/W2580722822"],"abstract_inverted_index":{"Dynamic":[0],"environments":[1,38,172],"are":[2,147],"challenging":[3],"for":[4,31,93,116],"visual":[5],"SLAM":[6,35],"as":[7,75,77,119,121,132,134],"moving":[8,41,64],"objects":[9,42],"can":[10],"impair":[11],"camera":[12,73,124],"pose":[13],"tracking":[14],"and":[15,43,161,173,176],"cause":[16],"corruptions":[17],"to":[18,62,69,98,138,154],"be":[19],"integrated":[20],"into":[21],"the":[22,46,72,83,105,109,113,139,144,151],"map.":[23],"In":[24],"this":[25],"paper,":[26],"we":[27],"propose":[28],"a":[29,78,100],"method":[30,153,166],"robust":[32,54,137],"dense":[33,95],"RGB-D":[34,85,96],"in":[36,60,143,170,178],"dynamic":[37,162,179],"which":[39,149],"detects":[40],"simultaneously":[44,70],"reconstructs":[45],"background":[47],"structure.":[48],"While":[49],"most":[50],"methods":[51],"employ":[52],"implicit":[53],"penalisers":[55],"or":[56],"outlier":[57],"filtering":[58],"techniques":[59],"order":[61],"handle":[63],"objects,":[65],"our":[66],"approach":[67],"is":[68,90],"estimate":[71,99],"motion":[74,125],"well":[76,120,133],"probabilistic":[79],"static/dynamic":[80,122],"segmentation":[81,89],"of":[82,103,108,141],"current":[84],"image":[86],"pair.":[87],"This":[88],"then":[91],"used":[92],"weighted":[94],"fusion":[97],"3D":[101,114],"model":[102,115],"only":[104],"static":[106,160,171],"parts":[107],"environment.":[110],"By":[111],"leveraging":[112],"frame-to-model":[117],"alignment,":[118],"segmentation,":[123],"estimation":[126],"has":[127],"reduced":[128],"overall":[129],"drift":[130],"-":[131],"being":[135],"more":[136],"presence":[140],"dynamics":[142],"scene.":[145],"Demonstrations":[146],"presented":[148],"compare":[150],"proposed":[152,165],"related":[155],"state-of-the-art":[156],"approaches":[157],"using":[158],"both":[159],"sequences.":[163],"The":[164],"achieves":[167],"similar":[168],"performance":[169],"improved":[174],"accuracy":[175],"robustness":[177],"scenes.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":34},{"year":2022,"cited_by_count":37},{"year":2021,"cited_by_count":32},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":7}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}
