{"id":"https://openalex.org/W4416750539","doi":"https://doi.org/10.1109/iros60139.2025.11247651","title":"GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics","display_name":"GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750539","doi":"https://doi.org/10.1109/iros60139.2025.11247651"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247651","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/A5101634959","display_name":"Tingyang Xiao","orcid":"https://orcid.org/0009-0004-5937-0759"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingyang Xiao","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086507934","display_name":"Xiaolin Zhou","orcid":"https://orcid.org/0000-0001-7363-4360"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Zhou","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007942979","display_name":"Liu Liu","orcid":"https://orcid.org/0009-0008-0077-9938"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Liu","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057006006","display_name":"Wei Sui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Sui","raw_affiliation_strings":["D-Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-Robotics,Beijing,China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050388265","display_name":"Wei Feng","orcid":"https://orcid.org/0000-0003-1157-8302"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Feng","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027159188","display_name":"Jiaxiong Qiu","orcid":"https://orcid.org/0000-0002-6065-7296"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxiong Qiu","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100626390","display_name":"Xinjie Wang","orcid":"https://orcid.org/0000-0002-9708-1518"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjie Wang","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073764398","display_name":"Zhizhong Su","orcid":null},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhizhong Su","raw_affiliation_strings":["Horizon Robotics,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Horizon Robotics,Beijing,China","institution_ids":["https://openalex.org/I4401726824"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39645196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15181","last_page":"15188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.57669997215271,"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":0.57669997215271,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.25119999051094055,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10709","display_name":"Social Robot Interaction and HRI","score":0.07259999960660934,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7979999780654907},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7231000065803528},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7153000235557556},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6159999966621399},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6080999970436096},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.589900016784668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5375000238418579},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.529699981212616}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7979999780654907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7799000144004822},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7231000065803528},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7153000235557556},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7038000226020813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6669999957084656},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6159999966621399},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6080999970436096},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.589900016784668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.529699981212616},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.498199999332428},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4399000108242035},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4343000054359436},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.3452000021934509},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.32420000433921814},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2574999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247651","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":29,"referenced_works":["https://openalex.org/W1978102433","https://openalex.org/W1987648924","https://openalex.org/W2202251471","https://openalex.org/W2250172176","https://openalex.org/W2535547924","https://openalex.org/W2898231767","https://openalex.org/W2945772959","https://openalex.org/W2950989657","https://openalex.org/W3043971245","https://openalex.org/W3125324929","https://openalex.org/W3126674423","https://openalex.org/W3129245057","https://openalex.org/W3199184510","https://openalex.org/W3210171367","https://openalex.org/W4250058668","https://openalex.org/W4312265650","https://openalex.org/W4312878643","https://openalex.org/W4367016638","https://openalex.org/W4383108801","https://openalex.org/W4387955275","https://openalex.org/W4399154295","https://openalex.org/W4401414941","https://openalex.org/W4401487614","https://openalex.org/W4402698355","https://openalex.org/W4403936986","https://openalex.org/W4404520519","https://openalex.org/W4405786083","https://openalex.org/W4405787203","https://openalex.org/W4413981576"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"GeoFlow-SLAM,":[3],"a":[4,82,109],"robust":[5,83],"and":[6,10,20,30,43,50,77,90,102,117,128,145,152,157],"effective":[7],"Tightly-Coupled":[8],"RGBD-Inertial":[9],"Legged":[11],"Odometry":[12],"Fusion":[13],"SLAM":[14],"for":[15,87],"legged":[16,27,94,143],"robotics":[17],"undergoing":[18],"aggressive":[19],"high-frequency":[21],"motions.":[22],"By":[23],"integrating":[24,96],"geometric":[25,119],"consistency,":[26],"odometry":[28],"constraints,":[29],"dual-stream":[31,69],"optical":[32,70],"flow":[33],"(GeoFlow),":[34],"our":[35],"method":[36,86],"addresses":[37],"three":[38],"critical":[39],"challenges:":[40],"feature":[41,52,62],"matching":[42,63],"pose":[44,84],"initialization":[45,85],"failures":[46],"during":[47],"fast":[48,88],"locomotion":[49,89],"visual":[51],"scarcity":[53],"in":[54,58,93,130],"texture-less":[55,133],"scenes.":[56],"Specifically,":[57],"rapid":[59],"motion":[60],"scenarios,":[61],"is":[64,121],"notably":[65],"enhanced":[66],"by":[67],"leveraging":[68],"flow,":[71],"which":[72],"combines":[73],"prior":[74],"map":[75],"points":[76],"poses.":[78],"Additionally,":[79],"we":[80],"propose":[81],"IMU":[91],"error":[92],"robots,":[95],"IMU/Legged":[97],"odometry,":[98],"inter-frame":[99],"Perspective-n-Point":[100],"(PnP),":[101],"Generalized":[103],"Iterative":[104],"Closest":[105],"Point":[106],"(GICP).":[107],"Furthermore,":[108],"novel":[110],"optimization":[111],"framework":[112],"that":[113],"tightly":[114],"couples":[115],"depth-to-map":[116],"GICP":[118],"constraints":[120],"first":[122],"introduced":[123],"to":[124],"improve":[125],"the":[126,154],"robustness":[127],"accuracy":[129],"long-duration,":[131],"visually":[132],"environments.":[134],"The":[135],"proposed":[136],"algorithms":[137],"achieve":[138],"state-of-the-art":[139],"(SOTA)":[140],"on":[141],"collected":[142],"robots":[144],"open-source":[146,155],"datasets.":[147],"To":[148],"further":[149],"promote":[150],"research":[151],"development,":[153],"datasets":[156],"code":[158],"will":[159],"be":[160],"made":[161],"publicly":[162],"available":[163],"at":[164],"https://github.com/HorizonRobotics/GeoFlowSlam.":[165]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}