{"id":"https://openalex.org/W2909327212","doi":"https://doi.org/10.1109/iros.2018.8593768","title":"A Combined RGB and Depth Descriptor for SLAM with Humanoids","display_name":"A Combined RGB and Depth Descriptor for SLAM with Humanoids","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909327212","doi":"https://doi.org/10.1109/iros.2018.8593768","mag":"2909327212"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5053029842","display_name":"Rasha Sheikh","orcid":"https://orcid.org/0000-0002-5822-4061"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Rasha Sheikh","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110323181","display_name":"Stefan Obwald","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan OBwald","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053029842"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.8872,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82284448,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1718","last_page":"1724"},"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":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9835000038146973,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8400819897651672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7953498363494873},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7609978914260864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6840890645980835},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6300424933433533},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6232237219810486},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.5215920209884644},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.49753835797309875},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.47890913486480713},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4671900272369385},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4443660378456116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43089696764945984},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3682548403739929},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1653415858745575}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8400819897651672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7953498363494873},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7609978914260864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6840890645980835},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6300424933433533},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6232237219810486},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.5215920209884644},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.49753835797309875},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.47890913486480713},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4671900272369385},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4443660378456116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43089696764945984},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3682548403739929},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1653415858745575},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1162411702","https://openalex.org/W1612997784","https://openalex.org/W1716229439","https://openalex.org/W1888571895","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W1989484209","https://openalex.org/W2002054993","https://openalex.org/W2021851106","https://openalex.org/W2073660060","https://openalex.org/W2082312667","https://openalex.org/W2089982705","https://openalex.org/W2095761085","https://openalex.org/W2117228865","https://openalex.org/W2139114878","https://openalex.org/W2144824356","https://openalex.org/W2149538904","https://openalex.org/W2153054365","https://openalex.org/W2154355760","https://openalex.org/W2156163156","https://openalex.org/W2399921223","https://openalex.org/W2535547924","https://openalex.org/W2598706937","https://openalex.org/W2725561347","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106440972","https://openalex.org/W6637636807","https://openalex.org/W6740179391"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W3192389065","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W1750372561","https://openalex.org/W2793342246","https://openalex.org/W3210107545","https://openalex.org/W1501082329","https://openalex.org/W3094334615"],"abstract_inverted_index":{"In":[0,71],"this":[1],"paper,":[2],"we":[3,50,88],"present":[4],"a":[5,18,57,79,93,131,140,148],"visual":[6,144],"simultaneous":[7],"localization":[8],"and":[9,32,42,77,106,127,157],"mapping":[10],"(SLAM)":[11],"system":[12,146],"for":[13],"humanoid":[14,82],"robots.":[15],"We":[16,44],"introduce":[17],"new":[19,112,143],"binary":[20,69],"descriptor":[21,113],"called":[22],"DLab":[23,46,91],"that":[24,61,90,110,128],"exploits":[25],"the":[26,52,111,163],"combined":[27],"information":[28],"of":[29,59,134],"color,":[30],"depth,":[31],"intensity":[33],"to":[34,39,98,103,116,155,160],"achieve":[35],"robustness":[36],"with":[37,56,63,78,84,123],"respect":[38],"uniqueness,":[40],"reproducibility,":[41],"stability.":[43],"use":[45],"within":[47],"ORB-SLAM,":[48],"where":[49],"replaced":[51],"place":[53,107],"recognition":[54,108],"module":[55],"modification":[58],"FAB-MAP":[60],"works":[62],"newly":[64],"built":[65],"codebooks":[66],"using":[67],"our":[68,142],"descriptor.":[70],"experiments":[72],"carried":[73],"out":[74],"in":[75,96,121,153],"simulation":[76],"real":[80],"Nao":[81],"equipped":[83],"an":[85],"RGB-D":[86],"camera,":[87],"show":[89],"has":[92,130,147],"superior":[94],"performance":[95],"comparison":[97,154],"other":[99],"descriptors.":[100],"The":[101],"application":[102],"feature":[104],"tracking":[105],"reveal":[109],"is":[114,158],"able":[115,159],"reliably":[117],"track":[118,162],"features":[119],"even":[120],"sequences":[122],"seriously":[124],"blurred":[125],"images":[126],"it":[129],"higher":[132],"percentage":[133],"correctly":[135],"identified":[136],"similar":[137],"images.":[138],"As":[139],"result,":[141],"SLAM":[145],"lower":[149],"absolute":[150],"trajectory":[151],"error":[152],"ORB-SLAM":[156],"accurately":[161],"robot's":[164],"trajectory.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
