{"id":"https://openalex.org/W3089514430","doi":"https://doi.org/10.1109/icra40945.2020.9197278","title":"Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM","display_name":"Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089514430","doi":"https://doi.org/10.1109/icra40945.2020.9197278","mag":"3089514430"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197278","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 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/A5088950822","display_name":"Hongle Xie","orcid":"https://orcid.org/0000-0001-8589-6798"},"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":"Hongle Xie","raw_affiliation_strings":["Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357376","display_name":"Weidong Chen","orcid":"https://orcid.org/0000-0001-8757-0679"},"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":"Weidong Chen","raw_affiliation_strings":["Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083038366","display_name":"Jingchuan Wang","orcid":"https://orcid.org/0000-0002-1943-1535"},"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":"Jingchuan Wang","raw_affiliation_strings":["Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"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":"Hesheng Wang","raw_affiliation_strings":["Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088950822"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.7258,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86475181,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"64"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9970999956130981,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7543749809265137},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7262688279151917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6929470300674438},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6892539262771606},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6149738430976868},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5708091855049133},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5114408731460571},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4513024091720581},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4477599859237671},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4244387745857239},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4215327501296997},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21619397401809692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1462804079055786},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12622001767158508},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12302258610725403},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11777344346046448},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08320510387420654}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7543749809265137},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7262688279151917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6929470300674438},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6892539262771606},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6149738430976868},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5708091855049133},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5114408731460571},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4513024091720581},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4477599859237671},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4244387745857239},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4215327501296997},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21619397401809692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1462804079055786},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12622001767158508},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12302258610725403},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11777344346046448},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08320510387420654},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197278","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1875235752","https://openalex.org/W1968315983","https://openalex.org/W1989484209","https://openalex.org/W2006368361","https://openalex.org/W2019085623","https://openalex.org/W2021851106","https://openalex.org/W2054959937","https://openalex.org/W2059634585","https://openalex.org/W2091790851","https://openalex.org/W2095025682","https://openalex.org/W2117228865","https://openalex.org/W2118877769","https://openalex.org/W2119104466","https://openalex.org/W2130103520","https://openalex.org/W2153054365","https://openalex.org/W2170282673","https://openalex.org/W2337224209","https://openalex.org/W2343086240","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2594040127","https://openalex.org/W2745859992","https://openalex.org/W2797929305","https://openalex.org/W2798513908","https://openalex.org/W2803292182","https://openalex.org/W2890123051","https://openalex.org/W2892399634","https://openalex.org/W2899887623","https://openalex.org/W2909063396","https://openalex.org/W2909147962","https://openalex.org/W2909157769","https://openalex.org/W2909990436","https://openalex.org/W2911518785","https://openalex.org/W2912678658","https://openalex.org/W2947221621","https://openalex.org/W2954590635","https://openalex.org/W2962772116","https://openalex.org/W2963813675","https://openalex.org/W2968190521","https://openalex.org/W2968243907","https://openalex.org/W2968949928","https://openalex.org/W2980788490","https://openalex.org/W3102327032","https://openalex.org/W3105612746","https://openalex.org/W3124420883","https://openalex.org/W4246483956","https://openalex.org/W6677548441","https://openalex.org/W6677788327","https://openalex.org/W6679388247","https://openalex.org/W6703291443","https://openalex.org/W6758162286","https://openalex.org/W6762819361"],"related_works":["https://openalex.org/W2921707373","https://openalex.org/W4321064134","https://openalex.org/W2116675934","https://openalex.org/W2116298349","https://openalex.org/W2980357211","https://openalex.org/W1627415758","https://openalex.org/W2972219788","https://openalex.org/W2786306966","https://openalex.org/W4234868473","https://openalex.org/W4292829955"],"abstract_inverted_index":{"Accurate,":[0],"robust":[1],"and":[2,42,79,117,125,171],"real-time":[3,169],"localization":[4,172],"under":[5],"constrained-resources":[6],"is":[7,87,131],"a":[8,19,36,66],"critical":[9],"problem":[10],"to":[11,33],"be":[12],"solved.":[13],"In":[14],"this":[15],"paper,":[16],"we":[17,53],"present":[18],"new":[20],"sparse":[21,107],"pose-graph":[22,108],"visual-inertial":[23,96],"SLAM":[24,97],"(SPVIS).":[25],"Unlike":[26],"the":[27,56,94,101,119,128,144,149,154,159,164],"existing":[28],"methods":[29],"that":[30,163],"are":[31,47],"costly":[32],"deal":[34],"with":[35,143],"large":[37],"number":[38],"of":[39,93],"redundant":[40],"features":[41,92,121],"3D":[43],"map":[44],"points,":[45],"which":[46,86],"inefficient":[48],"for":[49,60],"improving":[50],"positioning":[51],"accuracy,":[52],"focus":[54],"on":[55,148],"concise":[57,84],"visual":[58],"cues":[59],"high-precision":[61],"pose":[62],"estimating.":[63],"We":[64,141],"propose":[65],"novel":[67],"hierarchical":[68],"quadtree":[69],"based":[70],"optical":[71,103],"flow":[72,104],"tracking":[73],"algorithm,":[74],"it":[75,133],"achieves":[76,112,134],"high":[77],"accuracy":[78],"robustness":[80],"within":[81],"very":[82],"few":[83],"features,":[85],"only":[88],"about":[89],"one":[90],"fifth":[91],"state-of-the-art":[95,145],"algorithms.":[98],"Benefiting":[99],"from":[100],"efficient":[102],"tracking,":[105],"our":[106],"optimization":[109],"time":[110,136],"cost":[111,137],"bounded":[113],"complexity.":[114],"By":[115],"selecting":[116],"optimizing":[118],"informative":[120],"in":[122,138],"sliding":[123],"window":[124],"local":[126],"VIO,":[127],"computational":[129],"complexity":[130],"bounded,":[132],"low":[135],"long-term":[139],"operation.":[140],"compare":[142],"VIO/VI-SLAM":[146],"systems":[147],"challenging":[150],"public":[151],"datasets":[152],"by":[153],"embedded":[155],"platform":[156],"without":[157],"GPUs,":[158],"results":[160],"effectively":[161],"verify":[162],"proposed":[165],"method":[166],"has":[167],"better":[168],"performance":[170],"accuracy.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
