{"id":"https://openalex.org/W3118462215","doi":"https://doi.org/10.1109/iv47402.2020.9304626","title":"ASD-SLAM: A Novel Adaptive-Scale Descriptor Learning for Visual SLAM","display_name":"ASD-SLAM: A Novel Adaptive-Scale Descriptor Learning for Visual SLAM","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W3118462215","doi":"https://doi.org/10.1109/iv47402.2020.9304626","mag":"3118462215"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","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/A5090325601","display_name":"Taiyuan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Taiyuan Ma","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684138","display_name":"Yafei Wang","orcid":"https://orcid.org/0000-0003-4880-5054"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Wang","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693880","display_name":"Zili Wang","orcid":"https://orcid.org/0000-0002-5003-3092"},"institutions":[{"id":"https://openalex.org/I4401726789","display_name":"Xiaopeng Motors (China)","ror":"https://ror.org/05a5cgn70","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726789"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zili Wang","raw_affiliation_strings":["Xiaopeng Motors, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Xiaopeng Motors, Guangzhou, China","institution_ids":["https://openalex.org/I4401726789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028084976","display_name":"Xulei Liu","orcid":"https://orcid.org/0000-0003-1115-0285"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xulei Liu","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100381113","display_name":"Huimin Zhang","orcid":"https://orcid.org/0000-0001-7997-5377"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Zhang","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai Jiao Tong, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090325601"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.6903,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7977868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"809","last_page":"816"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983999729156494,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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/visual-odometry","display_name":"Visual odometry","score":0.8363622426986694},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8166357278823853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8009967803955078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6996169090270996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6545957326889038},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5475314259529114},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5464618802070618},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5023014545440674},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.48790857195854187},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4713772237300873},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45963507890701294},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4589257538318634},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.45688846707344055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24658560752868652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16029426455497742},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09692007303237915},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06105583906173706}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8363622426986694},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8166357278823853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8009967803955078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6996169090270996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6545957326889038},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5475314259529114},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5464618802070618},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5023014545440674},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.48790857195854187},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4713772237300873},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45963507890701294},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4589257538318634},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.45688846707344055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24658560752868652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16029426455497742},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09692007303237915},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06105583906173706},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv47402.2020.9304626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1869500417","https://openalex.org/W1893620550","https://openalex.org/W1929856797","https://openalex.org/W1955055330","https://openalex.org/W2025112904","https://openalex.org/W2096733369","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2126338221","https://openalex.org/W2127589108","https://openalex.org/W2145072179","https://openalex.org/W2151103935","https://openalex.org/W2293670510","https://openalex.org/W2320444803","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2612112834","https://openalex.org/W2618039218","https://openalex.org/W2619522967","https://openalex.org/W2737094507","https://openalex.org/W2737260104","https://openalex.org/W2737441089","https://openalex.org/W2794809894","https://openalex.org/W2804394440","https://openalex.org/W2884962765","https://openalex.org/W2909157769","https://openalex.org/W2909791330","https://openalex.org/W2917141083","https://openalex.org/W2950989657","https://openalex.org/W2962891637","https://openalex.org/W2963537932","https://openalex.org/W2963775347","https://openalex.org/W2966911063","https://openalex.org/W3043075211","https://openalex.org/W3104842437","https://openalex.org/W3106440972","https://openalex.org/W6638791942","https://openalex.org/W6681554747","https://openalex.org/W6738345448"],"related_works":["https://openalex.org/W2972219788","https://openalex.org/W2085689676","https://openalex.org/W2003315864","https://openalex.org/W813170165","https://openalex.org/W2116298349","https://openalex.org/W2060890775","https://openalex.org/W2971051170","https://openalex.org/W3110752836","https://openalex.org/W3039617376","https://openalex.org/W2785664508"],"abstract_inverted_index":{"Visual":[0],"Odometry":[1,150],"and":[2,5,33,48,56,83],"Simultaneous":[3],"Localization":[4],"Mapping":[6],"(SLAM)":[7],"are":[8],"widely":[9],"used":[10],"in":[11,42],"autonomous":[12],"driving.":[13],"In":[14,72],"the":[15,21,26,35,38,54,66,112,128,133,136,141,148],"traditional":[16],"keypoint-based":[17],"visual":[18,70,144],"SLAM":[19,101,145],"systems,":[20],"feature":[22,59],"matching":[23],"accuracy":[24,68],"of":[25,58,62,69,114],"front":[27],"end":[28],"plays":[29],"a":[30,77],"decisive":[31],"role":[32],"becomes":[34],"bottleneck":[36],"restricting":[37],"positioning":[39,67],"accuracy,":[40],"especially":[41],"challenging":[43],"scenarios":[44],"like":[45],"viewpoint":[46],"variation":[47],"highly":[49],"repetitive":[50],"scenes.":[51],"Thus,":[52],"increasing":[53],"discriminability":[55],"matchability":[57],"descriptor":[60,92],"is":[61,105],"importance":[63],"to":[64,86,89],"improve":[65],"SLAM.":[71],"this":[73],"paper,":[74],"we":[75,97],"proposed":[76],"novel":[78],"adaptive-scale":[79,91],"triplet":[80,87],"loss":[81],"function":[82],"apply":[84],"it":[85],"network":[88],"generate":[90],"(ASD).":[93],"Based":[94],"on":[95,111,127,147],"ASD,":[96],"designed":[98],"our":[99],"monocular":[100],"system":[102,109,138],"(ASD-SLAM)":[103],"which":[104],"an":[106],"deep-learning":[107],"enhanced":[108],"based":[110],"state":[113],"art":[115],"ORB-SLAM":[116],"system.":[117],"The":[118],"experimental":[119],"results":[120],"show":[121],"that":[122],"ASD":[123],"achieves":[124],"better":[125],"performance":[126],"UBC":[129],"benchmark":[130],"dataset,":[131],"at":[132],"same":[134],"time,":[135],"ASD-SLAM":[137],"also":[139],"outperforms":[140],"current":[142],"popular":[143],"frameworks":[146],"KITTI":[149],"Dataset.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
