{"id":"https://openalex.org/W3132919786","doi":"https://doi.org/10.1109/iros45743.2020.9341387","title":"GR-SLAM: Vision-Based Sensor Fusion SLAM for Ground Robots on Complex Terrain","display_name":"GR-SLAM: Vision-Based Sensor Fusion SLAM for Ground Robots on Complex Terrain","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132919786","doi":"https://doi.org/10.1109/iros45743.2020.9341387","mag":"3132919786"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5079654694","display_name":"Yun Su","orcid":"https://orcid.org/0000-0003-0217-4373"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Su","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112109933","display_name":"Ting Wang","orcid":"https://orcid.org/0000-0001-9553-5232"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761070","display_name":"Chen Yao","orcid":"https://orcid.org/0009-0004-2383-8217"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427939","display_name":"Shiliang Shao","orcid":"https://orcid.org/0000-0002-4512-167X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiliang Shao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100756467","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0001-7136-3341"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Chiba Institute of Technology, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chiba Institute of Technology, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5096","last_page":"5103"},"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":0.9986000061035156,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7922395467758179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7485044002532959},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7416250109672546},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7309799790382385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6681991219520569},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6445793509483337},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6170214414596558},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5966202020645142},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5707491636276245},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.5621567964553833},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5414964556694031},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5390462279319763},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.505047619342804},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40323612093925476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.164494127035141},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15741577744483948}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7922395467758179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7485044002532959},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7416250109672546},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7309799790382385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6681991219520569},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6445793509483337},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6170214414596558},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5966202020645142},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5707491636276245},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.5621567964553833},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5414964556694031},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5390462279319763},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.505047619342804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40323612093925476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.164494127035141},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15741577744483948},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":28,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1512698229","https://openalex.org/W1970504153","https://openalex.org/W2045975141","https://openalex.org/W2056358962","https://openalex.org/W2062525513","https://openalex.org/W2091790851","https://openalex.org/W2277848489","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2766213449","https://openalex.org/W2794298225","https://openalex.org/W2797843868","https://openalex.org/W2909063396","https://openalex.org/W2909908358","https://openalex.org/W2968618084","https://openalex.org/W3003813985","https://openalex.org/W3102327032","https://openalex.org/W3125449081","https://openalex.org/W6618872416","https://openalex.org/W6642822174","https://openalex.org/W6721610202","https://openalex.org/W6750194113","https://openalex.org/W6758162286"],"related_works":["https://openalex.org/W2038430283","https://openalex.org/W2952426663","https://openalex.org/W2536504876","https://openalex.org/W4309766231","https://openalex.org/W2989564752","https://openalex.org/W4205459552","https://openalex.org/W3192877624","https://openalex.org/W4389610161","https://openalex.org/W3115038810","https://openalex.org/W3196930002"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"many":[3],"excellent":[4],"SLAM":[5],"methods":[6,38,66],"based":[7,180,201],"on":[8,41,50,95,141,181,202],"cameras,":[9],"especially":[10],"the":[11,21,35,79,90,130,137,145,149,208],"camera-IMU":[12],"fusion":[13],"(VIO),":[14],"have":[15,64,74],"emerged,":[16],"which":[17,98,127,161,184],"has":[18],"greatly":[19],"improved":[20],"accuracy":[22],"and":[23,58,103,114,132,143,166,190,207,216],"robustness":[24],"of":[25,34,72,81,92],"SLAM.":[26],"However,":[27],"we":[28,153,172],"find":[29],"through":[30,148],"experiments":[31,198],"that":[32,211],"most":[33,71],"existing":[36],"VIO":[37],"perform":[39,194],"well":[40],"drones":[42],"or":[43],"drone":[44],"datasets,":[45],"but":[46,70],"for":[47,67,89,118,158,220],"ground":[48,68,93,205,221],"robots":[49,94],"complex":[51,96],"terrain,":[52,97],"they":[53],"cannot":[54],"continuously":[55],"provide":[56,112,214],"accurate":[57,113,215],"robust":[59,115,217],"localization":[60,91],"results.":[61],"Some":[62],"researchers":[63],"proposed":[65],"robots,":[69],"them":[73],"limited":[75],"applications":[76],"due":[77],"to":[78,111,135,193],"assumption":[80],"plane":[82],"motion.":[83],"Therefore,":[84],"this":[85],"paper":[86],"proposes":[87],"GR-SLAM":[88,212],"can":[99,128,162,185,213],"fuse":[100,129],"camera,":[101,188],"IMU,":[102,189],"encoder":[104,131,191],"data":[105,134,165,192],"in":[106],"a":[107,174,203],"tightly":[108,186],"coupled":[109],"scheme":[110],"state":[116,195,218],"estimation":[117,219],"robots.":[119,222],"First,":[120],"an":[121,155],"odometer":[122],"increment":[123,140],"model":[124],"is":[125],"proposed,":[126],"IMU":[133],"calculate":[136,144],"robot":[138,206],"pose":[139],"manifold,":[142],"frame":[146],"constraints":[147],"pre-integrated":[150],"increment.":[151],"Then":[152],"propose":[154],"evaluation":[156],"algorithm":[157],"multi-sensor":[159],"measurements,":[160],"detect":[163],"abnormal":[164],"adjust":[167],"its":[168],"optimization":[169,178],"weight.":[170],"Finally,":[171],"implement":[173],"complete":[175],"factor":[176],"graph":[177],"framework":[179],"sliding":[182],"window,":[183],"couple":[187],"estimation.":[196],"Extensive":[197],"are":[199],"conducted":[200],"real":[204],"results":[209],"show":[210]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
