{"id":"https://openalex.org/W3215132142","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605432","title":"Comparison of Visual SLAM Algorithms ORB-SLAM2, RTAB-Map and SPTAM in Internal and External Environments with ROS","display_name":"Comparison of Visual SLAM Algorithms ORB-SLAM2, RTAB-Map and SPTAM in Internal and External Environments with ROS","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3215132142","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605432","mag":"3215132142"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","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/A5045894704","display_name":"Kesse Jonatas de Jesus","orcid":null},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Kesse Jonatas de Jesus","raw_affiliation_strings":["Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051745312","display_name":"Henry Julio Kobs","orcid":null},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Henry Julio Kobs","raw_affiliation_strings":["Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081827905","display_name":"Anselmo Rafael Cukla","orcid":"https://orcid.org/0000-0002-5313-4593"},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Anselmo Rafael Cukla","raw_affiliation_strings":["Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083335886","display_name":"Marco Antonio de Souza Leite Cuadros","orcid":"https://orcid.org/0000-0003-4191-1794"},"institutions":[{"id":"https://openalex.org/I4210160371","display_name":"Instituto Federal do Esp\u00edrito Santo","ror":"https://ror.org/05rshs160","country_code":"BR","type":"funder","lineage":["https://openalex.org/I4210160371"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marco Antonio de Souza Leite Cuadros","raw_affiliation_strings":["Federal Institute of Espírito Santo, Sierra, ES, Brazil","Federal Institute of Esp&#x00ED","rito Santo, Sierra, ES, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal Institute of Espírito Santo, Sierra, ES, Brazil","institution_ids":["https://openalex.org/I4210160371"]},{"raw_affiliation_string":"Federal Institute of Esp&#x00ED","institution_ids":["https://openalex.org/I4210160371"]},{"raw_affiliation_string":"rito Santo, Sierra, ES, Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087533659","display_name":"Daniel Fernando Tello Gamarra","orcid":"https://orcid.org/0000-0002-4714-7849"},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel Fernando Tello Gamarra","raw_affiliation_strings":["Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Course, Federal University of Santa Maria, Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.1481,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.99169284,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"216","last_page":"221"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.9447317719459534},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7863997220993042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.722379207611084},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6641170978546143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.628861129283905},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6155408620834351},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5741373300552368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5477709770202637},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4923604726791382},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.44684475660324097},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3240901827812195},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13479092717170715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05697000026702881}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.9447317719459534},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7863997220993042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.722379207611084},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6641170978546143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.628861129283905},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6155408620834351},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5741373300552368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5477709770202637},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4923604726791382},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.44684475660324097},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3240901827812195},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13479092717170715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05697000026702881},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2202897526","https://openalex.org/W2535547924","https://openalex.org/W2606894526","https://openalex.org/W2761791932","https://openalex.org/W2782866148","https://openalex.org/W2944296259","https://openalex.org/W2945441254","https://openalex.org/W2946969832","https://openalex.org/W2956127048","https://openalex.org/W3010433097","https://openalex.org/W3049000034","https://openalex.org/W3094796080","https://openalex.org/W3102327032","https://openalex.org/W3112081802","https://openalex.org/W6762051887"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W3192389065","https://openalex.org/W1750372561","https://openalex.org/W2921358899","https://openalex.org/W4225747367","https://openalex.org/W2793342246","https://openalex.org/W4289530584"],"abstract_inverted_index":{"This":[0],"work":[1],"compares":[2],"three":[3],"visual":[4],"Simultaneous":[5],"Localization":[6],"and":[7,13,22,42,69,88],"Mapping":[8],"(vSLAM)":[9],"algorithms:":[10],"RTAB-Map,":[11],"ORB-SLAM2":[12,80],"SPTAM.":[14],"Simulations":[15],"were":[16],"carried":[17],"out":[18],"in":[19,45,67,78,84,100],"an":[20,23,85,101],"indoor":[21,68,86],"outdoor":[24,70,102],"environment":[25,87,103],"on":[26],"gazebo":[27],"using":[28],"ROS":[29],"(Robot":[30],"Operating":[31],"System).":[32],"It":[33],"was":[34],"used":[35],"a":[36,56,64,105],"robot":[37],"differential":[38],"drive":[39],"with":[40,104],"RGB-D":[41],"stereo":[43,106],"cameras":[44],"both":[46],"scenarios.":[47],"The":[48,72,108],"efficiency":[49],"of":[50,58,96,110],"vSLAM":[51],"methods":[52],"is":[53],"shown.":[54],"As":[55],"result":[57],"the":[59,61,75,79,89,97,111],"experiments,":[60],"S-PTAM":[62],"showed":[63],"better":[65],"performance":[66],"environment.":[71],"measures":[73,95],"for":[74,94],"trajectory":[76,98],"distance":[77,99],"had":[81,91],"more":[82,92],"accuracy":[83,93],"RTAB-Map":[90],"camera.":[107],"code":[109],"project":[112],"can":[113],"be":[114],"found":[115],"at":[116],"(https://github.com/Jhonan01/jhonan.git).":[117]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}