{"id":"https://openalex.org/W4401413641","doi":"https://doi.org/10.1109/icra57147.2024.10610000","title":"HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM","display_name":"HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413641","doi":"https://doi.org/10.1109/icra57147.2024.10610000"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5079583239","display_name":"Zhe Xin","orcid":"https://orcid.org/0000-0001-9647-518X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Xin","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065065325","display_name":"Liangjun Zhang","orcid":"https://orcid.org/0009-0007-7060-1660"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangjun Zhang","raw_affiliation_strings":["Baidu Research,Robotics and Autonomous Driving Lab (RAL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Research,Robotics and Autonomous Driving Lab (RAL)","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103089859","display_name":"Chenming Wu","orcid":"https://orcid.org/0000-0001-8012-1547"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenming Wu","raw_affiliation_strings":["Baidu Research,Robotics and Autonomous Driving Lab (RAL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Research,Robotics and Autonomous Driving Lab (RAL)","institution_ids":["https://openalex.org/I98301712"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8610","last_page":"8616"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9957000017166138,"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":0.6347343921661377},{"id":"https://openalex.org/keywords/hero","display_name":"HERO","score":0.6022047996520996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5777152180671692},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5231634378433228},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3645288050174713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26557865738868713},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15064898133277893}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6347343921661377},{"id":"https://openalex.org/C51364203","wikidata":"https://www.wikidata.org/wiki/Q1563532","display_name":"HERO","level":2,"score":0.6022047996520996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5777152180671692},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5231634378433228},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3645288050174713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26557865738868713},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15064898133277893}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1987648924","https://openalex.org/W2021851106","https://openalex.org/W2112174119","https://openalex.org/W2133665775","https://openalex.org/W2152671441","https://openalex.org/W2250172176","https://openalex.org/W2336961836","https://openalex.org/W2594519801","https://openalex.org/W2745859992","https://openalex.org/W2949830259","https://openalex.org/W2962793285","https://openalex.org/W2963562098","https://openalex.org/W3043075211","https://openalex.org/W3130983693","https://openalex.org/W3175175721","https://openalex.org/W3215589927","https://openalex.org/W4200150166","https://openalex.org/W4214564845","https://openalex.org/W4214579621","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4283034080","https://openalex.org/W4307783807","https://openalex.org/W4312453532","https://openalex.org/W4312598811","https://openalex.org/W4312878643","https://openalex.org/W4385245566","https://openalex.org/W4386066457","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386072012","https://openalex.org/W4389667683","https://openalex.org/W4390872507","https://openalex.org/W4390872919","https://openalex.org/W4390873060","https://openalex.org/W6764040762","https://openalex.org/W6790818473","https://openalex.org/W6800540912","https://openalex.org/W6800837989","https://openalex.org/W6848461040"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,18,30,70,81,131],"Mapping":[3],"(SLAM)":[4],"is":[5],"a":[6,53,77,123],"fundamental":[7],"task":[8],"in":[9,40,84,118,136],"robotics,":[10],"driving":[11,17],"numerous":[12],"applications":[13],"such":[14],"as":[15],"autonomous":[16],"virtual":[19],"reality.":[20],"Recent":[21],"progress":[22],"on":[23,99],"neural":[24,37,60,67,134],"implicit":[25,68,79,115],"SLAM":[26,135],"has":[27],"shown":[28],"encouraging":[29],"impressive":[31],"results.":[32],"However,":[33],"the":[34,64,103,128],"robustness":[35,83],"of":[36,66,105,133],"SLAM,":[38,61],"particularly":[39],"challenging":[41,85,119],"or":[42,91],"data-limited":[43],"situations,":[44],"remains":[45],"an":[46],"unresolved":[47],"issue.":[48],"This":[49,73],"paper":[50],"presents":[51],"HERO-SLAM,":[52],"Hybrid":[54],"Enhanced":[55],"Robust":[56],"Optimization":[57],"method":[58,75],"for":[59],"which":[62],"combines":[63],"benefits":[65],"field":[69,80],"feature-metric":[71],"optimization.":[72],"hybrid":[74,107],"optimizes":[76],"multi-resolution":[78],"enhances":[82],"environments":[86],"with":[87],"sudden":[88],"viewpoint":[89],"changes":[90],"sparse":[92],"data":[93],"collection.":[94],"Our":[95],"comprehensive":[96],"experimental":[97],"results":[98],"benchmarking":[100],"datasets":[101],"validate":[102],"effectiveness":[104],"our":[106],"approach,":[108],"demonstrating":[109],"its":[110],"superior":[111],"performance":[112],"over":[113],"existing":[114],"field-based":[116],"methods":[117],"scenarios.":[120,138],"HERO-SLAM":[121],"provides":[122],"new":[124],"pathway":[125],"to":[126],"enhance":[127],"stability,":[129],"performance,":[130],"applicability":[132],"real-world":[137],"Project":[139],"page:":[140],"https://hero-slam.github.io.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}