{"id":"https://openalex.org/W4408181585","doi":"https://doi.org/10.1109/jiot.2025.3548958","title":"CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features","display_name":"CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features","publication_year":2025,"publication_date":"2025-03-06","ids":{"openalex":"https://openalex.org/W4408181585","doi":"https://doi.org/10.1109/jiot.2025.3548958"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3548958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3548958","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5027021748","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0002-7658-284X"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Liu","raw_affiliation_strings":["Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","Department of Key Lab of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Department of Key Lab of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067200719","display_name":"Shuhuan Wen","orcid":"https://orcid.org/0000-0002-7646-4958"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuhuan Wen","raw_affiliation_strings":["Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","Department of Key Lab of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Department of Key Lab of Industrial Computer Control Engineering of Hebei Province, Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment and Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003996424","display_name":"Fei Yu","orcid":"https://orcid.org/0000-0002-3091-7640"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"F. Richard Yu","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","College of Computer Science and Software Engineering, Shenzhen University, P.R. China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, P.R. China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027021748"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":127.6581,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.99959394,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"12","issue":"12","first_page":"21866","last_page":"21875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9940999746322632,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9847999811172485,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7755085229873657},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6945880055427551},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6633414626121521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6584438681602478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5954383611679077},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5185023546218872},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48909860849380493},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.46735385060310364},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46213382482528687},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4414573609828949},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07906943559646606}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7755085229873657},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6945880055427551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6633414626121521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6584438681602478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5954383611679077},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5185023546218872},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48909860849380493},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.46735385060310364},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46213382482528687},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4414573609828949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07906943559646606},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3548958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3548958","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5191620234","display_name":null,"funder_award_id":"62273296","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G684185627","display_name":null,"funder_award_id":"202308130063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7296992109","display_name":null,"funder_award_id":"202308130063","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1519594923","https://openalex.org/W1976526581","https://openalex.org/W1989484209","https://openalex.org/W2396274919","https://openalex.org/W2745859992","https://openalex.org/W2803770871","https://openalex.org/W2906636743","https://openalex.org/W2968730217","https://openalex.org/W2982456934","https://openalex.org/W3003720118","https://openalex.org/W3043971245","https://openalex.org/W3089427702","https://openalex.org/W3092669602","https://openalex.org/W3132401233","https://openalex.org/W3182091186","https://openalex.org/W3204117507","https://openalex.org/W3207187295","https://openalex.org/W4214820331","https://openalex.org/W4226391002","https://openalex.org/W4226446010","https://openalex.org/W4226481925","https://openalex.org/W4285136973","https://openalex.org/W4285505354","https://openalex.org/W4288064527","https://openalex.org/W4306247852","https://openalex.org/W4313477060","https://openalex.org/W4319081583","https://openalex.org/W4323568027","https://openalex.org/W4383108534","https://openalex.org/W4383108801","https://openalex.org/W4388543840","https://openalex.org/W4388755261","https://openalex.org/W4392693641","https://openalex.org/W4392931743","https://openalex.org/W4393853214","https://openalex.org/W4394863042","https://openalex.org/W4399527629","https://openalex.org/W4403863392","https://openalex.org/W4405812408","https://openalex.org/W4406046476","https://openalex.org/W4406110658"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W3125070615","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Traditional":[0],"visual-inertial":[1],"Simultaneous":[2],"Localization":[3],"and":[4,24,48,51,60,78,86,100,130,140,151,160,170,197],"Mapping":[5],"(SLAM)":[6],"systems":[7,34],"predominantly":[8],"rely":[9],"on":[10,158,194],"feature":[11],"point":[12,77,99,159,168],"matching":[13],"from":[14],"a":[15,69,164],"single":[16],"robot":[17,21,85],"to":[18,43,113,181,189,204],"realize":[19],"the":[20,84,90,96,107,123,134,175],"pose":[22],"estimation":[23],"environment":[25],"map":[26,87,173],"construction.":[27],"However,":[28],"in":[29,55,83,89,106,118,144,174,198],"complex":[30,145],"scenarios,":[31],"these":[32,65],"traditional":[33],"struggle":[35],"with":[36],"issues,":[37],"such":[38],"as":[39],"tracking":[40,82],"failures":[41],"due":[42],"illumination":[44],"changes,":[45],"rapid":[46],"movements,":[47],"low-texture":[49,120],"environments,":[50],"they":[52],"perform":[53],"poorly":[54],"terms":[56],"of":[57,98,125],"mapping":[58],"efficiency":[59],"global":[61],"consistency.":[62],"To":[63],"address":[64],"challenges,":[66],"we":[67,148],"propose":[68],"centralized":[70],"collaborative":[71],"SLAM":[72],"system":[73,94,136],"that":[74],"employs":[75],"both":[76],"line":[79,101,161],"features":[80,102],"for":[81],"fusion":[88,97],"cloud.":[91,176],"The":[92],"proposed":[93,135],"leverages":[95],"across":[103],"all":[104],"instances":[105],"process,":[108],"which":[109],"allows":[110],"our":[111,208],"method":[112,178],"achieve":[114],"higher":[115],"localization":[116],"accuracy":[117,187],"structured,":[119],"scenes.":[121,146],"With":[122],"aid":[124],"classifying":[126],"gravity-aligned":[127],"vertical":[128],"lines":[129],"spatial":[131],"parallel":[132],"lines,":[133],"can":[137],"deliver":[138],"faster":[139],"more":[141],"accurate":[142],"odometry":[143],"Furthermore,":[147],"developed":[149],"intrarobot":[150],"interrobot":[152],"loop":[153],"closure":[154],"detection":[155],"methods":[156],"based":[157],"features,":[162],"generating":[163],"globally":[165],"consistent":[166],"sparse":[167],"cloud":[169],"structured":[171],"scene":[172],"Our":[177],"is":[179],"able":[180],"build":[182],"richer":[183],"maps":[184],"while":[185],"improving":[186],"compared":[188,203],"existing":[190,205],"methods.":[191],"Experimental":[192],"results":[193],"public":[195],"datasets":[196],"real-world":[199],"environments":[200],"show":[201],"that,":[202],"advanced":[206],"methods,":[207],"approach":[209],"demonstrates":[210],"better":[211],"performance.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":22}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
