{"id":"https://openalex.org/W4416748395","doi":"https://doi.org/10.1109/iros60139.2025.11247316","title":"FastTrack: GPU-Accelerated Tracking for Visual SLAM","display_name":"FastTrack: GPU-Accelerated Tracking for Visual SLAM","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748395","doi":"https://doi.org/10.1109/iros60139.2025.11247316"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5119958343","display_name":"Kimia Khabiri","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kimia Khabiri","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119958344","display_name":"Parsa Hosseininejad","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Parsa Hosseininejad","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022617819","display_name":"Shishir Gopinath","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Shishir Gopinath","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032635242","display_name":"Karthik Dantu","orcid":"https://orcid.org/0000-0002-7497-6722"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karthik Dantu","raw_affiliation_strings":["University at Buffalo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Buffalo","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109113161","display_name":"Steven Y. Ko","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steven Y. Ko","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15165","last_page":"15172"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.909600019454956,"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":0.909600019454956,"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":0.042500000447034836,"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":0.02590000070631504,"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/tracking","display_name":"Tracking (education)","score":0.7225000262260437},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5755000114440918},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5554999709129333},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5479999780654907},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5440999865531921},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5242999792098999},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.49790000915527344},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4860999882221222},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4708999991416931}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8166999816894531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7821000218391418},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7225000262260437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6973999738693237},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5755000114440918},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5554999709129333},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5479999780654907},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5440999865531921},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.49790000915527344},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4860999882221222},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4708999991416931},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.4090000092983246},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.3926999866962433},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.3021000027656555},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.2653999924659729}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":12,"referenced_works":["https://openalex.org/W2091790851","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2797395780","https://openalex.org/W3043971245","https://openalex.org/W4211154833","https://openalex.org/W4226236972","https://openalex.org/W4378801124","https://openalex.org/W4383066251","https://openalex.org/W4388240406","https://openalex.org/W4401288389","https://openalex.org/W4401416370"],"related_works":[],"abstract_inverted_index":{"The":[0],"tracking":[1,32,47,65,89,100],"module":[2],"of":[3,19,64,102],"a":[4,36,52,107],"visual-inertial":[5],"SLAM":[6,120],"system":[7],"processes":[8],"incoming":[9],"image":[10],"frames":[11],"and":[12,78,109,123],"IMU":[13],"data":[14],"to":[15,24,33,42,60,68,104],"estimate":[16],"the":[17,20,25,31,87,118],"position":[18],"frame":[21,41],"in":[22,35,66,99,114],"relation":[23],"map.":[26],"It":[27],"is":[28],"important":[29],"for":[30,39],"complete":[34],"timely":[37],"manner":[38],"each":[40],"avoid":[43],"poor":[44],"localization":[45],"or":[46],"loss.":[48],"We":[49,82],"therefore":[50],"present":[51],"new":[53],"approach":[54],"which":[55],"leverages":[56],"GPU":[57],"computing":[58],"power":[59],"accelerate":[61],"time-consuming":[62],"components":[63,73],"order":[67],"improve":[69],"its":[70],"performance.":[71],"These":[72],"include":[74],"stereo":[75],"feature":[76],"matching":[77],"local":[79],"map":[80],"tracking.":[81],"implement":[83],"our":[84],"design":[85],"inside":[86],"ORB-SLAM3":[88],"process":[90],"using":[91,117],"CUDA.":[92],"Our":[93],"evaluation":[94],"demonstrates":[95],"an":[96],"overall":[97],"improvement":[98],"performance":[101],"up":[103],"2.8\u00d7":[105],"on":[106],"desktop":[108],"Jetson":[110],"Xavier":[111],"NX":[112],"board":[113],"stereo-inertial":[115],"mode,":[116],"well-known":[119],"datasets":[121],"EuRoC":[122],"TUM-VI.":[124]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}