{"id":"https://openalex.org/W4400646886","doi":"https://doi.org/10.1109/iv55156.2024.10588822","title":"RWT-SLAM: Robust Visual SLAM for Weakly Textured Environments","display_name":"RWT-SLAM: Robust Visual SLAM for Weakly Textured Environments","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400646886","doi":"https://doi.org/10.1109/iv55156.2024.10588822"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5011818025","display_name":"Qihao Peng","orcid":"https://orcid.org/0000-0002-7305-4646"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qihao Peng","raw_affiliation_strings":["Zhejiang University,Dept of Information and Electronic Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Dept of Information and Electronic Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002980949","display_name":"Xijun Zhao","orcid":"https://orcid.org/0000-0003-2090-3648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xijun Zhao","raw_affiliation_strings":["China North Vehicle Research Institute,Beijing,China,100072"],"affiliations":[{"raw_affiliation_string":"China North Vehicle Research Institute,Beijing,China,100072","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109455604","display_name":"Ruina Dang","orcid":"https://orcid.org/0000-0002-4725-0838"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruina Dang","raw_affiliation_strings":["China North Vehicle Research Institute,Beijing,China,100072"],"affiliations":[{"raw_affiliation_string":"China North Vehicle Research Institute,Beijing,China,100072","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074545160","display_name":"Zhiyu Xiang","orcid":"https://orcid.org/0000-0002-3329-7037"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyu Xiang","raw_affiliation_strings":["Zhejiang University,Dept of Information and Electronic Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Dept of Information and Electronic Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011818025"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.774,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92379652,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"913","last_page":"919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944000244140625,"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":0.9944000244140625,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9772999882698059,"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/computer-vision","display_name":"Computer vision","score":0.7301760315895081},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6854687333106995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6470312476158142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.596895158290863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22760728001594543},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2253744900226593}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7301760315895081},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6854687333106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6470312476158142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.596895158290863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22760728001594543},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2253744900226593}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2111308925","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2606794968","https://openalex.org/W2793027874","https://openalex.org/W2887825894","https://openalex.org/W2950989657","https://openalex.org/W2960033181","https://openalex.org/W2963200201","https://openalex.org/W2964254721","https://openalex.org/W2979458572","https://openalex.org/W2996333182","https://openalex.org/W3013299216","https://openalex.org/W3034411221","https://openalex.org/W3043075211","https://openalex.org/W3048686556","https://openalex.org/W3089936780","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3131673036","https://openalex.org/W3166285241","https://openalex.org/W3203518786","https://openalex.org/W4312339537","https://openalex.org/W4312548398","https://openalex.org/W4312606688","https://openalex.org/W4312878643","https://openalex.org/W4385245566","https://openalex.org/W4385805193","https://openalex.org/W4386083013","https://openalex.org/W4386315006","https://openalex.org/W6754984195","https://openalex.org/W6779835006","https://openalex.org/W6809705236","https://openalex.org/W7033622795"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"As":[0],"a":[1,24,32,63],"fundamental":[2],"task":[3],"for":[4,37,53,94],"intelligent":[5],"robots,":[6],"visual":[7,34],"SLAM":[8,18,36],"has":[9],"made":[10],"significant":[11],"progress":[12],"in":[13,19,79,97,164],"recent":[14],"years.":[15],"However,":[16],"robust":[17],"weakly":[20,80,165],"textured":[21,81,166],"environments":[22,39],"remains":[23],"challenging":[25],"task.":[26],"In":[27],"this":[28,43,124],"paper,":[29],"we":[30,57],"present":[31],"novel":[33],"Robust":[35],"Weak-Textured":[38],"(RWT-SLAM)":[40],"to":[41,69,90,108],"address":[42],"problem.":[44],"Unlike":[45],"existing":[46],"methods":[47],"that":[48],"use":[49],"detector-based":[50],"deep":[51],"networks":[52],"interest":[54],"point":[55],"detection,":[56],"propose":[58],"extracting":[59],"distinctive":[60,118],"features":[61],"from":[62,88],"detector-free":[64],"based":[65],"network,":[66],"namely":[67],"LoFTR,":[68],"avoid":[70],"the":[71,98,110,113,117,128,136,158],"difficulty":[72],"of":[73,76,112,161],"manual":[74],"annotations":[75],"feature":[77,86],"points":[78],"images.":[82],"We":[83,122],"generate":[84],"multi-level":[85],"vectors":[87],"LoFTR":[89],"form":[91],"dense":[92],"descriptors":[93,114],"each":[95],"pixel":[96],"input":[99],"image.":[100],"A":[101],"keypoint":[102,126],"localization":[103],"component":[104],"is":[105],"then":[106],"proposed":[107],"measure":[109],"saliency":[111],"and":[115,132],"select":[116],"pixels":[119],"as":[120,146,148],"keypoints.":[121],"integrate":[123],"new":[125],"into":[127],"popular":[129,142],"ORB-SLAM":[130],"framework":[131],"compare":[133],"it":[134],"with":[135],"state-of-the-art":[137],"methods.":[138],"Extensive":[139],"experiments":[140],"on":[141],"TUM":[143],"RGB-D,":[144],"OpenLORIS-Scene,":[145],"well":[147],"our":[149,162],"own":[150],"dataset":[151],"are":[152],"carried":[153],"out.":[154],"The":[155],"results":[156],"demonstrate":[157],"superior":[159],"performance":[160],"method":[163],"environments.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}