{"id":"https://openalex.org/W4405786882","doi":"https://doi.org/10.1109/iros58592.2024.10802153","title":"Inline Photometrically Calibrated Hybrid Visual SLAM","display_name":"Inline Photometrically Calibrated Hybrid Visual SLAM","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786882","doi":"https://doi.org/10.1109/iros58592.2024.10802153"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5111744390","display_name":"Nicolas Abboud","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Nicolas Abboud","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070050736","display_name":"Malak Sayour","orcid":"https://orcid.org/0000-0001-8661-3374"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Malak Sayour","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061146388","display_name":"Imad H. Elhajj","orcid":"https://orcid.org/0000-0002-6461-4699"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Imad H. Elhajj","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077041853","display_name":"John Zelek","orcid":"https://orcid.org/0000-0002-8138-3546"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"John Zelek","raw_affiliation_strings":["University of Waterloo,Department of System Design Engineering,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of System Design Engineering,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086667285","display_name":"Daniel Asmar","orcid":"https://orcid.org/0000-0002-4932-9777"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Daniel Asmar","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111744390"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.7548,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81529679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10089","last_page":"10096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9943000078201294,"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":0.9853000044822693,"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/computer-science","display_name":"Computer science","score":0.5025637149810791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33949416875839233}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5025637149810791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33949416875839233}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2008387908","https://openalex.org/W2096099694","https://openalex.org/W2108134361","https://openalex.org/W2118428504","https://openalex.org/W2123315723","https://openalex.org/W2124545674","https://openalex.org/W2130700878","https://openalex.org/W2133934946","https://openalex.org/W2140599684","https://openalex.org/W2143736264","https://openalex.org/W2151290401","https://openalex.org/W2168676389","https://openalex.org/W2202897526","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2586879489","https://openalex.org/W2884188043","https://openalex.org/W2898781364","https://openalex.org/W2915133644","https://openalex.org/W2962733873","https://openalex.org/W3003403268","https://openalex.org/W3043971245","https://openalex.org/W3135663482","https://openalex.org/W4283208835","https://openalex.org/W4385483056","https://openalex.org/W4392815726","https://openalex.org/W4399387873","https://openalex.org/W6719264329"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"integrated":[4],"approach":[5],"to":[6,46],"Visual":[7,98],"SLAM,":[8],"merging":[9],"online":[10,107],"sequential":[11],"photometric":[12],"calibration":[13,22],"within":[14],"a":[15,82],"Hybrid":[16],"direct-indirect":[17],"visual":[18],"SLAM":[19,99,108,119],"(H-SLAM).":[20],"Photometric":[21],"helps":[23],"normalize":[24],"pixel":[25],"intensity":[26],"values":[27],"under":[28],"different":[29],"lighting":[30,62],"conditions,":[31],"and":[32,96],"thereby":[33],"improves":[34],"the":[35,47,54,75,92,103,117],"direct":[36],"component":[37,49],"of":[38,50,91],"our":[39,111],"H-SLAM.":[40],"A":[41],"tangential":[42],"benefit":[43],"also":[44,114],"results":[45],"indirect":[48],"H-SLAM":[51,68,87],"given":[52],"that":[53],"detected":[55],"features":[56],"are":[57],"more":[58],"stable":[59],"across":[60],"variable":[61],"conditions.":[63],"Our":[64],"proposed":[65],"photometrically":[66],"calibrated":[67],"is":[69],"tested":[70,109],"on":[71,81],"several":[72],"datasets,":[73],"including":[74],"TUM":[76],"monoVO":[77],"as":[78,80],"well":[79],"dataset":[83],"we":[84],"created.":[85],"Calibrated":[86],"outperforms":[88],"other":[89,118],"state":[90],"art":[93],"direct,":[94],"indirect,":[95],"hybrid":[97],"systems":[100],"in":[101,106],"all":[102],"experiments.":[104],"Furthermore,":[105],"at":[110],"site,":[112],"it":[113],"significantly":[115],"outperformed":[116],"Systems.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}