{"id":"https://openalex.org/W2971050348","doi":"https://doi.org/10.1109/iros40897.2019.8967572","title":"ORBSLAM-Atlas: a robust and accurate multi-map system","display_name":"ORBSLAM-Atlas: a robust and accurate multi-map system","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2971050348","doi":"https://doi.org/10.1109/iros40897.2019.8967572","mag":"2971050348"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.11585","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044545618","display_name":"Richard Elvira","orcid":"https://orcid.org/0000-0002-0458-6788"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Richard Elvira","raw_affiliation_strings":["Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030733231","display_name":"Juan D. Tard\u00f3s","orcid":"https://orcid.org/0000-0002-4518-5876"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan D. Tard\u00f3s","raw_affiliation_strings":["Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072782079","display_name":"J. M. M. Montiel","orcid":"https://orcid.org/0000-0002-3627-7306"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.M.M. Montiel","raw_affiliation_strings":["Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigation en ingeniena de Aragon (I3A), Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044545618"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":0.63383368,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80606803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6253","last_page":"6259"},"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":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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":0.7431195974349976},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7108876705169678},{"id":"https://openalex.org/keywords/atlas","display_name":"Atlas (anatomy)","score":0.6523534655570984},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6222051382064819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6132333874702454},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.561728835105896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.502879798412323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11934837698936462}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7431195974349976},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7108876705169678},{"id":"https://openalex.org/C2776673561","wikidata":"https://www.wikidata.org/wiki/Q655357","display_name":"Atlas (anatomy)","level":2,"score":0.6523534655570984},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6222051382064819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6132333874702454},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.561728835105896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.502879798412323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11934837698936462},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.11585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.11585","pdf_url":"https://arxiv.org/pdf/1908.11585","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2971050348","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1908.11585.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1908.11585","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.11585","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.57702/vomrrdet","is_oa":true,"landing_page_url":"https://doi.org/10.57702/vomrrdet","pdf_url":null,"source":{"id":"https://openalex.org/S7407053387","display_name":"TIB Data Manager","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"dataset"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.11585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.11585","pdf_url":"https://arxiv.org/pdf/1908.11585","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324111","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2971050348.pdf","grobid_xml":"https://content.openalex.org/works/W2971050348.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1989838848","https://openalex.org/W1993267444","https://openalex.org/W2021851106","https://openalex.org/W2037971631","https://openalex.org/W2151290401","https://openalex.org/W2155695215","https://openalex.org/W2156939321","https://openalex.org/W2162161345","https://openalex.org/W2166644671","https://openalex.org/W2396274919","https://openalex.org/W2404458319","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2564632156","https://openalex.org/W2611940445","https://openalex.org/W2745859992","https://openalex.org/W2801117803","https://openalex.org/W2883702102","https://openalex.org/W2892378191","https://openalex.org/W2906636743","https://openalex.org/W2909063396","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W3003455978","https://openalex.org/W2254590392","https://openalex.org/W3196889539","https://openalex.org/W3208442141","https://openalex.org/W2798468281","https://openalex.org/W2950143309","https://openalex.org/W2771230335","https://openalex.org/W2992889733","https://openalex.org/W3006350433","https://openalex.org/W2993565147","https://openalex.org/W2184838470","https://openalex.org/W2610207162","https://openalex.org/W128799666","https://openalex.org/W3099727102","https://openalex.org/W2890090517","https://openalex.org/W3190102146","https://openalex.org/W2942668087","https://openalex.org/W2396104755","https://openalex.org/W3116724277","https://openalex.org/W3013521425"],"abstract_inverted_index":{"We":[0,185,209,238],"propose":[1,146],"ORBSLAM-Atlas,":[2],"a":[3,16,64,83,107,160,175,261],"system":[4,85,247],"able":[5,21,91],"to":[6,22,41,44,51,75,92,128,147,155,181,225,248],"handle":[7,63],"an":[8],"unlimited":[9],"number":[10,141],"of":[11,37,56,103,142,245],"disconnected":[12],"sub-maps,":[13,169],"that":[14,137,170],"includes":[15],"robust":[17],"map":[18,78,120,163],"merging":[19],"algorithm":[20],"detect":[23,45],"sub-maps":[24],"with":[25,117,134,250],"common":[26,122],"regions":[27],"and":[28,35,50,73,89,112,199,229,243,258,268],"seamlessly":[29],"fuse":[30],"them.":[31],"The":[32,80],"outstanding":[33],"robustness":[34,242],"accuracy":[36],"ORBSLAM":[38,207],"are":[39,124,171,271],"due":[40,154],"its":[42],"ability":[43],"wide-baseline":[46,70],"matches":[47],"between":[48,227],"keyframes,":[49],"exploit":[52],"them":[53],"by":[54],"means":[55],"non-linear":[57],"optimization,":[58],"however":[59],"it":[60,113],"only":[61],"can":[62,114],"single":[65],"map.":[66],"ORBSLAM-Atlas":[67,195],"brings":[68],"the":[69,76,105,118,130,140,162,182,191,203,218,222,241,255],"matching":[71],"detection":[72],"exploitation":[74],"multiple":[77,215],"arena.":[79],"result":[81],"is":[82,98,110,164],"SLAM":[84],"significantly":[86],"more":[87,167,176,232],"general":[88],"robust,":[90],"perform":[93],"multi-session":[94],"mapping.":[95],"If":[96],"tracking":[97,269],"lost":[99,132],"during":[100],"exploration,":[101],"instead":[102],"freezing":[104],"map,":[106,179],"new":[108],"sub-map":[109],"launched,":[111],"be":[115],"fused":[116],"previous":[119,135],"when":[121],"parts":[123],"visited.":[125],"Our":[126],"criteria":[127],"declare":[129],"camera":[131,152,266],"contrast":[133],"approaches":[136],"simply":[138],"count":[139],"tracked":[143],"points,":[144],"we":[145],"discard":[148],"also":[149,210,239],"inaccurately":[150],"estimated":[151],"poses":[153],"bad":[156],"geometrical":[157],"conditioning.":[158],"As":[159],"result,":[161],"split":[165],"into":[166],"accurate":[168,177,197,233],"eventually":[172],"merged":[173],"in":[174,190,202,217,254,260],"global":[178,212],"thanks":[180],"multi-mapping":[183],"capabilities.":[184],"provide":[186],"extensive":[187],"experimental":[188],"validation":[189],"EuRoC":[192,256],"datasets,":[193],"where":[194,206,265],"obtains":[196],"monocular":[198],"stereo":[200],"results":[201,224],"difficult":[204],"sequences":[205],"failed.":[208],"build":[211],"maps":[213],"after":[214],"sessions":[216],"same":[219],"room,":[220],"obtaining":[221],"best":[223],"date,":[226],"2":[228],"3":[230],"times":[231],"than":[234],"competing":[235],"multi-map":[236],"approaches.":[237],"show":[240],"capability":[244],"our":[246],"deal":[249],"dynamic":[251],"scenes,":[252],"quantitatively":[253],"datasets":[257],"qualitatively":[259],"densely":[262],"populated":[263],"corridor":[264],"occlusions":[267],"losses":[270],"frequent.":[272]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}