{"id":"https://openalex.org/W2968704155","doi":"https://doi.org/10.1109/icra.2019.8794046","title":"Low-latency Visual SLAM with Appearance-Enhanced Local Map Building","display_name":"Low-latency Visual SLAM with Appearance-Enhanced Local Map Building","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968704155","doi":"https://doi.org/10.1109/icra.2019.8794046","mag":"2968704155"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5055384209","display_name":"Yipu Zhao","orcid":"https://orcid.org/0000-0002-6757-5349"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yipu Zhao","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080905034","display_name":"Wenkai Ye","orcid":"https://orcid.org/0009-0006-4542-7755"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenkai Ye","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036991903","display_name":"Patricio A. Vela","orcid":"https://orcid.org/0000-0002-6888-7002"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patricio A. Vela","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.8813,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98076811,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"31","issue":null,"first_page":"8213","last_page":"8219"},"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":0.9948999881744385,"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/T10888","display_name":"Augmented Reality Applications","score":0.9927999973297119,"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/computer-science","display_name":"Computer science","score":0.628456175327301},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6140077710151672},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5953682661056519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5645793676376343},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.47693294286727905},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3747726082801819},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19410806894302368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13276249170303345},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09442612528800964}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.628456175327301},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6140077710151672},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5953682661056519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5645793676376343},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.47693294286727905},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3747726082801819},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19410806894302368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13276249170303345},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09442612528800964}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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":48,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1498041548","https://openalex.org/W1565312575","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1729998890","https://openalex.org/W1964629479","https://openalex.org/W2006548260","https://openalex.org/W2010642153","https://openalex.org/W2019458444","https://openalex.org/W2029948740","https://openalex.org/W2050977796","https://openalex.org/W2059139185","https://openalex.org/W2091790851","https://openalex.org/W2099361355","https://openalex.org/W2100729440","https://openalex.org/W2102998745","https://openalex.org/W2117228865","https://openalex.org/W2129000642","https://openalex.org/W2141584146","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2154280780","https://openalex.org/W2191707460","https://openalex.org/W2278591674","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2522940611","https://openalex.org/W2538522345","https://openalex.org/W2560863959","https://openalex.org/W2564632156","https://openalex.org/W2745859992","https://openalex.org/W2752482756","https://openalex.org/W2768000450","https://openalex.org/W2789100425","https://openalex.org/W2809054452","https://openalex.org/W2884962765","https://openalex.org/W2899887623","https://openalex.org/W2901398718","https://openalex.org/W2909147962","https://openalex.org/W2949874165","https://openalex.org/W3103648783","https://openalex.org/W3104510747","https://openalex.org/W6633480776","https://openalex.org/W6637400245","https://openalex.org/W6674745569","https://openalex.org/W6721610202","https://openalex.org/W6748528437"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"A":[0],"local":[1,20,53,64,79,98,148,154,175],"map":[2,21,54,65,80,99,103,149,155],"module":[3],"is":[4,29,136,158,196],"often":[5],"implemented":[6],"in":[7,84,186],"modern":[8],"VO/VSLAM":[9,163,187,193],"systems":[10],"to":[11,31,43,62,75,107,138],"improve":[12],"data":[13,86,115],"association":[14],"and":[15,81,124,146],"pose":[16,184],"estimation.":[17],"Conventionally,":[18],"the":[19,35,52,93,97,102,108,141,147,171,174,180,192],"contents":[22],"are":[23,111,122,188],"determined":[24],"by":[25,67],"co-visibility.":[26],"While":[27],"co-visibility":[28,63],"cheap":[30],"establish,":[32],"it":[33],"utilizes":[34],"relatively-weak":[36],"temporal":[37],"prior":[38,90],"(i.e.":[39],"seen":[40,45],"before,":[41],"likely":[42],"be":[44],"now),":[46],"therefore":[47],"admitting":[48],"more":[49,77],"features":[50,104,121],"into":[51,160],"than":[55],"necessary.":[56],"This":[57],"paper":[58],"describes":[59],"an":[60],"enhancement":[61],"building":[66,156],"incorporating":[68],"a":[69,76,161],"strong":[70],"appearance":[71,89],"prior,":[72],"which":[73],"leads":[74],"compact":[78],"latency":[82,181],"reduction":[83],"downstream":[85],"association.":[87,116],"The":[88,151],"collected":[91],"from":[92],"current":[94,109],"image":[95],"influences":[96],"contents:":[100],"only":[101],"visually":[105],"similar":[106],"measurements":[110],"potentially":[112],"useful":[113],"for":[114],"To":[117],"that":[118],"end,":[119],"mapped":[120],"indexed":[123],"queried":[125],"with":[126],"Multi-index":[127],"Hashing":[128],"(MIH).":[129],"An":[130],"online":[131],"hash":[132],"table":[133],"selection":[134],"algorithm":[135],"developed":[137],"further":[139],"reduce":[140],"query":[142],"overhead":[143],"of":[144,173,182],"MIH":[145],"size.":[150],"proposed":[152],"appearance-based":[153],"method":[157],"integrated":[159],"state-of-the-art":[162],"system.":[164],"When":[165],"evaluated":[166],"on":[167],"two":[168],"public":[169],"benchmarks,":[170],"size":[172],"map,":[176],"as":[177,179],"well":[178],"real-time":[183],"tracking":[185],"significantly":[189],"reduced.":[190],"Meanwhile,":[191],"mean":[194],"performance":[195],"preserved":[197],"or":[198],"improves.":[199]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}