{"id":"https://openalex.org/W4313051418","doi":"https://doi.org/10.1109/iros47612.2022.9981238","title":"DRG-SLAM: A Semantic RGB-D SLAM using Geometric Features for Indoor Dynamic Scene","display_name":"DRG-SLAM: A Semantic RGB-D SLAM using Geometric Features for Indoor Dynamic Scene","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313051418","doi":"https://doi.org/10.1109/iros47612.2022.9981238"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981238","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5100696879","display_name":"Yanan Wang","orcid":"https://orcid.org/0000-0001-9998-6882"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanan Wang","raw_affiliation_strings":["Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029335824","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0002-2671-4170"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112886713","display_name":"Yaobin Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaobin Tian","raw_affiliation_strings":["Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059209683","display_name":"Xilun Ding","orcid":"https://orcid.org/0000-0002-9752-3937"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xilun Ding","raw_affiliation_strings":["Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA),Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100696879"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":5.9614,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.97938578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1352","last_page":"1359"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8211183547973633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7697933316230774},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7300692796707153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7275283932685852},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.605960488319397},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5967594981193542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2238559126853943},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18806448578834534}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8211183547973633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7697933316230774},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7300692796707153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7275283932685852},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.605960488319397},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5967594981193542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2238559126853943},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18806448578834534},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981238","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1968034339","https://openalex.org/W2008849352","https://openalex.org/W2021851106","https://openalex.org/W2031489346","https://openalex.org/W2103868202","https://openalex.org/W2108402667","https://openalex.org/W2160072137","https://openalex.org/W2202251471","https://openalex.org/W2535547924","https://openalex.org/W2592319627","https://openalex.org/W2796916234","https://openalex.org/W2808571300","https://openalex.org/W2911596153","https://openalex.org/W2950989657","https://openalex.org/W2963200201","https://openalex.org/W2963881378","https://openalex.org/W2971193004","https://openalex.org/W3003179103","https://openalex.org/W3043971245","https://openalex.org/W3048686556","https://openalex.org/W3089905794","https://openalex.org/W3091587962","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3129250013","https://openalex.org/W3130023978","https://openalex.org/W3146082954","https://openalex.org/W3207187295","https://openalex.org/W3207290493","https://openalex.org/W4210951069","https://openalex.org/W6784724293"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Visual":[0],"SLAM":[1],"methods":[2],"based":[3],"on":[4,70],"point":[5,56],"features":[6,51,54,57],"have":[7,45],"achieved":[8],"acceptable":[9],"results":[10,76],"in":[11,30,86],"texture-rich":[12],"static":[13],"scenes,":[14,33],"but":[15],"they":[16],"often":[17],"suffer":[18],"from":[19],"a":[20],"deficiency":[21],"of":[22,27,38,62],"texture":[23],"and":[24,52,74,84],"the":[25,36,60,63,67,75,79,92],"existence":[26],"dynamic":[28,88],"objects":[29],"real":[31],"indoor":[32,87],"which":[34,48],"limits":[35],"application":[37],"these":[39],"methods.":[40,94],"In":[41],"this":[42],"paper,":[43],"we":[44],"presented":[46],"DRG-SLAM,":[47],"combines":[49],"line":[50],"plane":[53],"into":[55],"to":[58],"improve":[59],"robustness":[61,85],"system.":[64],"We":[65],"tested":[66],"proposed":[68],"algorithm":[69,80],"publicly":[71],"available":[72],"datasets,":[73],"demonstrate":[77],"that":[78],"has":[81],"superior":[82],"accuracy":[83],"scenes":[89],"compared":[90],"with":[91],"state-of-the-art":[93]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
