{"id":"https://openalex.org/W3206797670","doi":"https://doi.org/10.1109/icra48506.2021.9561946","title":"Collaborative Visual Inertial SLAM for Multiple Smart Phones","display_name":"Collaborative Visual Inertial SLAM for Multiple Smart Phones","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206797670","doi":"https://doi.org/10.1109/icra48506.2021.9561946","mag":"3206797670"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561946","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":"conference-paper","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/A5100617230","display_name":"Jialing Liu","orcid":"https://orcid.org/0000-0002-0480-8272"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialing Liu","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072389245","display_name":"Ruyu Liu","orcid":"https://orcid.org/0000-0003-2130-9122"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruyu Liu","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101687631","display_name":"Kaiqi Chen","orcid":"https://orcid.org/0000-0002-9079-0899"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiqi Chen","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100434758","display_name":"Jianhua Zhang","orcid":"https://orcid.org/0000-0001-7844-6035"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047488004","display_name":"Dongyan Guo","orcid":"https://orcid.org/0000-0002-9811-4828"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyan Guo","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11553","last_page":"11559"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/computer-science","display_name":"Computer science","score":0.8399085998535156},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7470721006393433},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6307884454727173},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5740692615509033},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.45587629079818726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44382381439208984},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4179023802280426},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41123002767562866},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4107438325881958},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35510677099227905},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.337899386882782},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33144256472587585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25461554527282715}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8399085998535156},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7470721006393433},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6307884454727173},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5740692615509033},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.45587629079818726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44382381439208984},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4179023802280426},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41123002767562866},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4107438325881958},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35510677099227905},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.337899386882782},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33144256472587585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25461554527282715},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561946","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"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1979843398","https://openalex.org/W1989484209","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2216550548","https://openalex.org/W2396274919","https://openalex.org/W2562628086","https://openalex.org/W2573552470","https://openalex.org/W2611940445","https://openalex.org/W2618008911","https://openalex.org/W2745859992","https://openalex.org/W2768130891","https://openalex.org/W2770683484","https://openalex.org/W2803770871","https://openalex.org/W2906636743","https://openalex.org/W2960971247","https://openalex.org/W2963479576","https://openalex.org/W3003455978","https://openalex.org/W3144404684","https://openalex.org/W3165610079","https://openalex.org/W3174413658","https://openalex.org/W4246614213","https://openalex.org/W6746333500","https://openalex.org/W6757997862","https://openalex.org/W6765425951","https://openalex.org/W6795742097","https://openalex.org/W7053304325"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W2970345194"],"abstract_inverted_index":{"The":[0,26,116,153],"efficiency":[1,37],"and":[2,12,38,43,64,101,127,131,150,157],"accuracy":[3,154],"of":[4,22,28,40,144,155,159],"mapping":[5,156],"are":[6],"crucial":[7],"in":[8,147],"a":[9,48,72,85,96,109],"large":[10],"scene":[11],"long-term":[13],"AR":[14,24],"applications.":[15],"Multi-agent":[16],"cooperative":[17],"SLAM":[18,77],"is":[19,163],"the":[20,33,93,105,120,129,135,142,145,160],"precondition":[21],"multi-user":[23],"interaction.":[25],"cooperation":[27],"multiple":[29,80],"smart":[30],"phones":[31],"has":[32],"potential":[34],"to":[35,108,165],"improve":[36],"robustness":[39],"task":[41],"completion":[42],"can":[44,90],"complete":[45],"tasks":[46],"that":[47],"single":[49],"agent":[50,89],"cannot":[51],"do.":[52],"However,":[53],"it":[54],"depends":[55],"on":[56,79],"robust":[57,62],"communication,":[58],"efficient":[59,65],"location":[60],"detection,":[61],"mapping,":[63],"information":[66,107,121,133],"sharing":[67],"among":[68],"agents.":[69],"We":[70,139],"propose":[71],"multi-intelligence":[73],"collaborative":[74],"monocular":[75],"visual-inertial":[76,97],"deployed":[78],"ios":[81],"mobile":[82],"devices":[83],"with":[84,112,134],"centralized":[86],"architecture.":[87],"Each":[88],"independently":[91],"explore":[92],"environment,":[94],"run":[95],"odometry":[98],"module":[99],"online,":[100],"then":[102],"send":[103],"all":[104,119],"measurement":[106],"central":[110],"server":[111,117],"higher":[113,169],"computing":[114,170],"resources.":[115,171],"manages":[118],"received,":[122],"detects":[123],"overlapping":[124],"areas,":[125],"merges":[126],"optimizes":[128],"map,":[130],"shares":[132],"agents":[136],"when":[137],"needed.":[138],"have":[140],"verified":[141],"performance":[143],"system":[146,162],"public":[148],"datasets":[149],"real":[151],"environments.":[152],"fusion":[158],"proposed":[161],"comparable":[164],"VINS-Mono":[166],"which":[167],"requires":[168]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}