{"id":"https://openalex.org/W3205096489","doi":"https://doi.org/10.1109/icra48506.2021.9561538","title":"Multi-Parameter Optimization for a Robust RGB-D SLAM System","display_name":"Multi-Parameter Optimization for a Robust RGB-D SLAM System","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205096489","doi":"https://doi.org/10.1109/icra48506.2021.9561538","mag":"3205096489"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5013881991","display_name":"Yizhao Wang","orcid":"https://orcid.org/0000-0002-8990-6663"},"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":"Yizhao Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042961334","display_name":"Xiaoxiao Zhu","orcid":"https://orcid.org/0000-0002-7086-4256"},"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":"Xiaoxiao Zhu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087640770","display_name":"Guohan He","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":"Guohan He","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"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":"Qixin Cao","raw_affiliation_strings":["Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, 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/A5013881991"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.34,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74136281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"5343","last_page":"5349"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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/robustness","display_name":"Robustness (evolution)","score":0.8580322861671448},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7869217395782471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7069696187973022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6912360191345215},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6902418732643127},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6488699316978455},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.64570152759552},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5960545539855957},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.44434696435928345},{"id":"https://openalex.org/keywords/maximum-a-posteriori-estimation","display_name":"Maximum a posteriori estimation","score":0.4159236550331116},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.41539645195007324},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.28227078914642334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2229161560535431},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12724316120147705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07691919803619385}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8580322861671448},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7869217395782471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7069696187973022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6912360191345215},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6902418732643127},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6488699316978455},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.64570152759552},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5960545539855957},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.44434696435928345},{"id":"https://openalex.org/C9810830","wikidata":"https://www.wikidata.org/wiki/Q635384","display_name":"Maximum a posteriori estimation","level":3,"score":0.4159236550331116},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.41539645195007324},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.28227078914642334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2229161560535431},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12724316120147705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07691919803619385},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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":23,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W169439271","https://openalex.org/W1612997784","https://openalex.org/W1902677311","https://openalex.org/W2021851106","https://openalex.org/W2064451896","https://openalex.org/W2117228865","https://openalex.org/W2153054365","https://openalex.org/W2154280780","https://openalex.org/W2527142681","https://openalex.org/W2535547924","https://openalex.org/W2596600468","https://openalex.org/W2604137468","https://openalex.org/W2801981273","https://openalex.org/W2951730755","https://openalex.org/W2962679300","https://openalex.org/W3091326658","https://openalex.org/W3091592533","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3165610079","https://openalex.org/W4236769309","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W2980723633","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"SLAM":[0],"systems":[1],"can":[2,24],"retrieve":[3],"their":[4],"metric":[5],"scales":[6],"and":[7,19,39,55,64,80],"depth":[8,53],"information":[9],"using":[10],"RGB-D":[11,22,113],"cameras.":[12],"However,":[13],"limited":[14],"by":[15],"the":[16,71,91,100,106,111],"sensing":[17],"range":[18],"objects":[20],"structure,":[21],"cameras":[23],"not":[25],"always":[26],"work":[27],"well,":[28],"resulting":[29],"in":[30,70,76,99,110],"failures":[31],"sometimes.":[32],"In":[33],"this":[34],"work,":[35],"we":[36],"present":[37],"initialization":[38],"localization":[40],"methods":[41,98],"based":[42],"on":[43],"maximum-a-posteriori":[44],"estimation.":[45],"Our":[46],"system":[47,89],"endows":[48],"monocular":[49],"keypoints":[50],"with":[51,95],"valid":[52],"values":[54],"introduce":[56],"them":[57],"into":[58],"bundle":[59],"adjustment.":[60],"Depth":[61],"bias":[62],"coefficient":[63],"scale":[65,78],"factor":[66],"are":[67],"also":[68],"optimized":[69],"local":[72],"window,":[73],"obtaining":[74],"robustness":[75,93],"large":[77],"environments":[79],"long-running":[81],"operations.":[82],"The":[83],"experimental":[84],"results":[85],"indicate":[86],"that":[87],"our":[88],"provides":[90],"best":[92],"compared":[94],"other":[96],"excellent":[97],"literature,":[101],"being":[102],"able":[103],"to":[104],"process":[105],"most":[107],"challenging":[108],"sequences":[109],"TUM":[112],"dataset.":[114]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
