{"id":"https://openalex.org/W2783142377","doi":"https://doi.org/10.1109/icsai.2017.8248279","title":"A depth camera based lightweight visual SLAM algorithm","display_name":"A depth camera based lightweight visual SLAM algorithm","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783142377","doi":"https://doi.org/10.1109/icsai.2017.8248279","mag":"2783142377"},"language":"en","primary_location":{"id":"doi:10.1109/icsai.2017.8248279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsai.2017.8248279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Systems and Informatics (ICSAI)","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/A5088418676","display_name":"Zhihao Wang","orcid":"https://orcid.org/0000-0003-1415-4054"},"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":true,"raw_author_name":"Zhihao Wang","raw_affiliation_strings":["Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641331","display_name":"Qingxuan Jia","orcid":"https://orcid.org/0000-0002-9533-3275"},"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":"Qingxuan Jia","raw_affiliation_strings":["Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714384","display_name":"Ping Ye","orcid":"https://orcid.org/0000-0002-6624-0627"},"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":"Ping Ye","raw_affiliation_strings":["Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100705869","display_name":"Hanxu Sun","orcid":"https://orcid.org/0000-0002-8747-9418"},"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":"Hanxu Sun","raw_affiliation_strings":["Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088418676"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":1.6332,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87809266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"143","last_page":"148"},"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":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9968000054359436,"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":0.7725576162338257},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7172049283981323},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5702084302902222},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5667872428894043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5562887191772461},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5465970635414124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5424443483352661},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5422106981277466}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7725576162338257},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7172049283981323},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5702084302902222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5667872428894043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5562887191772461},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5465970635414124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5424443483352661},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5422106981277466},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsai.2017.8248279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsai.2017.8248279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Systems and Informatics (ICSAI)","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":16,"referenced_works":["https://openalex.org/W1521470386","https://openalex.org/W1522345396","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1991793962","https://openalex.org/W2031998160","https://openalex.org/W2064887836","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2130103520","https://openalex.org/W2396274919","https://openalex.org/W2607585508","https://openalex.org/W3103648783","https://openalex.org/W6631059785","https://openalex.org/W6677308130","https://openalex.org/W6736448625"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0],"Visual":[1],"SLAM":[2,28,62,89,129],"algorithm":[3,35,63,72,111],"has":[4,120],"the":[5,9,14,31,34,51,57,67,71,75,81,94,106,110,125],"goal":[6],"of":[7,23,33,53,59,70,77,96,109,128],"estimating":[8],"camera":[10],"trajectory":[11],"while":[12,112],"reconstructing":[13],"Environment,":[15],"which":[16,91],"provides":[17],"great":[18,121],"help":[19],"for":[20,124],"autonomous":[21],"navigation":[22],"mobile":[24],"robot.":[25],"However,":[26],"many":[27],"systems":[29],"improve":[30,66,105],"complexity":[32],"in":[36,43],"order":[37],"to":[38,65,104],"show":[39],"high":[40],"precision,":[41],"resulting":[42],"poor":[44],"real-time":[45,68],"performance.":[46],"In":[47],"practical":[48,126],"application,":[49],"considering":[50],"problem":[52],"robot":[54],"life-time":[55],"and":[56,73,101],"speed":[58],"embedded":[60],"system,":[61],"needs":[64],"performance":[69,108],"ensure":[74],"accuracy":[76],"application":[78,127],"requirements":[79],"at":[80],"same":[82],"time.":[83],"This":[84],"paper":[85],"presents":[86],"a":[87,115],"lightweight":[88],"algorithm,":[90],"mainly":[92],"through":[93],"management":[95],"map":[97],"points,":[98],"multi-threaded":[99],"design":[100],"NEON":[102],"technology":[103],"real-tine":[107],"still":[113],"maintaining":[114],"good":[116],"localizing":[117],"accuracy.":[118],"It":[119],"reference":[122],"value":[123],"algorithm.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}