{"id":"https://openalex.org/W4401414773","doi":"https://doi.org/10.1109/icra57147.2024.10610068","title":"ONeK-SLAM: A Robust Object-level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints","display_name":"ONeK-SLAM: A Robust Object-level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414773","doi":"https://doi.org/10.1109/icra57147.2024.10610068"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610068","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":"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/A5109054762","display_name":"Yue Zhuge","orcid":null},"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/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Zhuge","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Computing Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Computing Technology,China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052635380","display_name":"Haiyong Luo","orcid":"https://orcid.org/0000-0001-6827-4225"},"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/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyong Luo","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Computing Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Computing Technology,China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075450175","display_name":"Runze Chen","orcid":"https://orcid.org/0000-0002-6599-7898"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runze Chen","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,Beijing,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075567162","display_name":"Yushi Chen","orcid":"https://orcid.org/0009-0003-1349-6180"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yushi Chen","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,Beijing,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034852420","display_name":"Jiaquan Yan","orcid":"https://orcid.org/0000-0001-7321-9829"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaquan Yan","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,Beijing,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102722378","display_name":"Zhuqing Jiang","orcid":"https://orcid.org/0000-0002-6275-0785"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuqing Jiang","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,Beijing,China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8585,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96992783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10245","last_page":"10252"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}}],"keywords":[{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.8746050596237183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7322720289230347},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7148002982139587},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6870969533920288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6690686345100403},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5784616470336914},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5362182855606079},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2109287679195404},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18161064386367798},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13904619216918945},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1349533498287201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07268014550209045}],"concepts":[{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.8746050596237183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7322720289230347},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7148002982139587},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6870969533920288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6690686345100403},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5784616470336914},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5362182855606079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2109287679195404},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18161064386367798},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13904619216918945},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1349533498287201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07268014550209045},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610068","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"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2009422376","https://openalex.org/W2021851106","https://openalex.org/W2064451896","https://openalex.org/W2069479606","https://openalex.org/W2108134361","https://openalex.org/W2110357983","https://openalex.org/W2151103935","https://openalex.org/W2336961836","https://openalex.org/W2520105578","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2887751724","https://openalex.org/W2887825894","https://openalex.org/W2888144883","https://openalex.org/W2905139627","https://openalex.org/W2949115101","https://openalex.org/W2949830259","https://openalex.org/W2951730755","https://openalex.org/W2963706662","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W2967664003","https://openalex.org/W2980925180","https://openalex.org/W3000674297","https://openalex.org/W3013299216","https://openalex.org/W3034259269","https://openalex.org/W3035515538","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3112108866","https://openalex.org/W3119331429","https://openalex.org/W3127066163","https://openalex.org/W3130983693","https://openalex.org/W3132982513","https://openalex.org/W3154129649","https://openalex.org/W3172610252","https://openalex.org/W3175175721","https://openalex.org/W3179022832","https://openalex.org/W3192352794","https://openalex.org/W3193551877","https://openalex.org/W3199149066","https://openalex.org/W3202037070","https://openalex.org/W3203583526","https://openalex.org/W3203806429","https://openalex.org/W3204326360","https://openalex.org/W3210613940","https://openalex.org/W4200150166","https://openalex.org/W4206120224","https://openalex.org/W4214564845","https://openalex.org/W4214768561","https://openalex.org/W4230575152","https://openalex.org/W4287100327","https://openalex.org/W4306880614","https://openalex.org/W4309345265","https://openalex.org/W4312357798","https://openalex.org/W4312878643","https://openalex.org/W4319300652","https://openalex.org/W4376312146","https://openalex.org/W4383109324","https://openalex.org/W4386066489","https://openalex.org/W4386075953","https://openalex.org/W4389665446","https://openalex.org/W6756774061","https://openalex.org/W6763530150","https://openalex.org/W6764040762","https://openalex.org/W6790818473","https://openalex.org/W6798491912","https://openalex.org/W6800540912","https://openalex.org/W6800837989","https://openalex.org/W6845903860","https://openalex.org/W6852629184"],"related_works":["https://openalex.org/W2896728493","https://openalex.org/W2392142157","https://openalex.org/W2043512367","https://openalex.org/W4321518006","https://openalex.org/W2331836163","https://openalex.org/W1994657804","https://openalex.org/W2005276308","https://openalex.org/W1970182911","https://openalex.org/W2024462231","https://openalex.org/W2347721387"],"abstract_inverted_index":{"Neural":[0],"implicit":[1],"representation":[2],"has":[3],"recently":[4],"achieved":[5],"significant":[6],"advancements,":[7],"especially":[8],"in":[9,30,102,131],"the":[10,54,58,79,85],"field":[11],"of":[12],"SLAM(Simultaneous":[13],"Localization":[14],"and":[15,26,28,32,48,65,73,97,104,118,134],"Mapping).":[16],"Previous":[17],"NeRF-based":[18,128],"SLAM":[19,41,129],"methods":[20],"have":[21],"difficulties":[22],"with":[23],"object-level":[24,40,99],"localization":[25,63,96,133],"reconstruction":[27,67],"struggle":[29],"dynamic":[31,75,103,117],"illumination-varied":[33],"environments.":[34,106],"We":[35],"propose":[36],"ONeK-SLAM,":[37],"a":[38],"robust":[39],"system":[42],"that":[43,114,123],"effectively":[44],"combines":[45],"feature":[46,90],"points":[47],"neural":[49],"radiance":[50],"fields.":[51],"ONeK-SLAM":[52,93],"uses":[53],"joint":[55,80],"information":[56],"at":[57],"object":[59],"level":[60],"to":[61],"improve":[62],"accuracy":[64],"enhance":[66],"details.":[68],"Moreover,":[69],"our":[70,124],"approach":[71],"detects":[72],"eliminates":[74],"objects":[76],"based":[77],"on":[78,110],"errors,":[81],"while":[82],"also":[83],"harnessing":[84],"illumination":[86],"invariance":[87],"offered":[88],"by":[89],"points.":[91],"Consequently,":[92],"achieves":[94],"high-precision":[95],"detailed":[98],"mapping,":[100],"even":[101],"illumination-varying":[105],"Our":[107],"evaluations,":[108],"conducted":[109],"three":[111],"public":[112],"datasets":[113],"include":[115],"both":[116,132],"variable":[119],"lighting":[120],"sequences,":[121],"demonstrate":[122],"method":[125,130],"outperforms":[126],"recent":[127],"reconstruction.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}