{"id":"https://openalex.org/W4312911675","doi":"https://doi.org/10.1109/iros47612.2022.9982280","title":"MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation","display_name":"MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312911675","doi":"https://doi.org/10.1109/iros47612.2022.9982280"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982280","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/A5101979448","display_name":"Hanwei Zhang","orcid":"https://orcid.org/0009-0002-8051-8119"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hanwei Zhang","raw_affiliation_strings":["Graduate School of Information Science and Electrical Engineering, Kyushu University,Fukuoka,Japan","Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Electrical Engineering, Kyushu University,Fukuoka,Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056399333","display_name":"Hideaki Uchiyama","orcid":"https://orcid.org/0000-0002-6119-1184"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideaki Uchiyama","raw_affiliation_strings":["Graduate School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087041831","display_name":"Shintaro Ono","orcid":"https://orcid.org/0000-0002-2552-6143"},"institutions":[{"id":"https://openalex.org/I31784960","display_name":"Fukuoka University","ror":"https://ror.org/04nt8b154","country_code":"JP","type":"education","lineage":["https://openalex.org/I31784960"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shintaro Ono","raw_affiliation_strings":["Fukuoka University,Faculty of Engineering,Fukuoka,Japan","Institute of Industrial Science, The University of Tokyo, Tokyo, Japan","Faculty of Engineering, Fukuoka University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Fukuoka University,Faculty of Engineering,Fukuoka,Japan","institution_ids":["https://openalex.org/I31784960"]},{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Faculty of Engineering, Fukuoka University, Fukuoka, Japan","institution_ids":["https://openalex.org/I31784960"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066586146","display_name":"Hiroshi Kawasaki","orcid":"https://orcid.org/0000-0002-2517-159X"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kawasaki","raw_affiliation_strings":["Kyushu University,Faculty of Information Science and Electrical Engineering,Fukuoka,Japan","Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu University,Faculty of Information Science and Electrical Engineering,Fukuoka,Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101979448"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":4.7217,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97271055,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8174340724945068},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.810089111328125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7480080127716064},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6872442960739136},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6395960450172424},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.60746830701828},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5710722208023071},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.4168117344379425},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4113353192806244},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4104405641555786},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.181659996509552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16770169138908386},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14979645609855652},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13194122910499573}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8174340724945068},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.810089111328125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7480080127716064},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6872442960739136},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6395960450172424},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.60746830701828},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5710722208023071},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.4168117344379425},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4113353192806244},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4104405641555786},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.181659996509552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16770169138908386},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14979645609855652},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13194122910499573},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/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/iros47612.2022.9982280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982280","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1938204631","https://openalex.org/W2097696373","https://openalex.org/W2117228865","https://openalex.org/W2124781496","https://openalex.org/W2128019145","https://openalex.org/W2150066425","https://openalex.org/W2222512263","https://openalex.org/W2252355370","https://openalex.org/W2474281075","https://openalex.org/W2606794968","https://openalex.org/W2808571300","https://openalex.org/W2811184430","https://openalex.org/W2890090517","https://openalex.org/W2927562344","https://openalex.org/W2938672559","https://openalex.org/W2950989657","https://openalex.org/W2962960377","https://openalex.org/W2963150697","https://openalex.org/W2963591054","https://openalex.org/W2963881378","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W3008784268","https://openalex.org/W3034848995","https://openalex.org/W3035056458","https://openalex.org/W3043971245","https://openalex.org/W3098467253","https://openalex.org/W3104218139","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3119444100","https://openalex.org/W3132607695","https://openalex.org/W3146082954","https://openalex.org/W4214558638","https://openalex.org/W4293584584","https://openalex.org/W6750227808","https://openalex.org/W6766261854"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Visual":[0],"SLAM":[1,26,47,77],"systems":[2],"targeting":[3],"static":[4],"scenes":[5],"have":[6],"been":[7],"developed":[8],"with":[9,27,49,79,100],"satisfactory":[10],"accuracy":[11],"and":[12,41,64,87,104,133,168],"robustness.":[13],"Dynamic":[14],"3D":[15,105,112],"object":[16,97,131,169],"tracking":[17,98,170],"has":[18,160],"then":[19],"become":[20],"a":[21,53,74,146],"significant":[22],"capability":[23],"in":[24,34],"visual":[25,76],"the":[28,58,80,123,153],"requirement":[29],"of":[30,60,90,125],"under-standing":[31],"dynamic":[32,46,62,75,91,126,139,173],"surroundings":[33],"various":[35],"scenarios":[36],"including":[37],"autonomous":[38],"driving,":[39],"augmented":[40],"virtual":[42],"reality.":[43],"However,":[44],"performing":[45],"solely":[48],"monocular":[50,81,116,172],"images":[51],"remains":[52],"challenging":[54],"problem":[55],"due":[56],"to":[57,109,121],"difficulty":[59],"asso-ciating":[61],"features":[63],"estimating":[65],"their":[66],"positions.":[67],"In":[68],"this":[69],"paper,":[70],"we":[71],"present":[72],"MOTSLAM,":[73],"system":[78,159],"configuration":[82],"that":[83,157],"tracks":[84],"both":[85,102,134,165],"poses":[86],"bounding":[88,106],"boxes":[89],"objects.":[92,113],"MOTSLAM":[93],"first":[94],"performs":[95],"multiple":[96],"(MOT)":[99],"associated":[101],"2D":[103],"box":[107],"detection":[108],"create":[110],"initial":[111],"Then,":[114],"neural-network-based":[115],"depth":[117,124],"estimation":[118],"is":[119],"applied":[120],"fetch":[122],"features.":[127],"Finally,":[128],"camera":[129,166],"poses,":[130,132],"static,":[135],"as":[136,138],"well":[137],"map":[140],"points,":[141],"are":[142],"jointly":[143],"optimized":[144],"using":[145],"novel":[147],"bundle":[148],"adjustment.":[149],"Our":[150],"experiments":[151],"on":[152,164,171],"KITTI":[154],"dataset":[155],"demonstrate":[156],"our":[158],"reached":[161],"best":[162],"performance":[163],"ego-motion":[167],"SLAM.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}