{"id":"https://openalex.org/W4394863042","doi":"https://doi.org/10.1109/lra.2024.3388854","title":"RSS: Robust Stereo SLAM With Novel Extraction and Full Exploitation of Plane Features","display_name":"RSS: Robust Stereo SLAM With Novel Extraction and Full Exploitation of Plane Features","publication_year":2024,"publication_date":"2024-04-16","ids":{"openalex":"https://openalex.org/W4394863042","doi":"https://doi.org/10.1109/lra.2024.3388854"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3388854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3388854","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5021970722","display_name":"Haolin Wang","orcid":"https://orcid.org/0009-0008-8073-9492"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolin Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-8073-9492","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005139937","display_name":"Wei Hao","orcid":"https://orcid.org/0000-0002-7708-0243"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wei","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7708-0243","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101845301","display_name":"Zewen Xu","orcid":"https://orcid.org/0009-0002-9700-3728"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zewen Xu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-9700-3728","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102786389","display_name":"Zeren Lv","orcid":"https://orcid.org/0009-0000-7567-151X"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeren Lv","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-7567-151X","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102904889","display_name":"Pengju Zhang","orcid":"https://orcid.org/0000-0001-8245-0205"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengju Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8245-0205","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102810614","display_name":"Ning An","orcid":"https://orcid.org/0009-0005-4228-8203"},"institutions":[{"id":"https://openalex.org/I4210165649","display_name":"China Coal Research Institute (China)","ror":"https://ror.org/05dy2c135","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210165649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning An","raw_affiliation_strings":["Research Institute of Mine Big Data, China Coal Research Institute, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-4228-8203","affiliations":[{"raw_affiliation_string":"Research Institute of Mine Big Data, China Coal Research Institute, Beijing, China","institution_ids":["https://openalex.org/I4210165649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006625202","display_name":"Fulin Tang","orcid":"https://orcid.org/0000-0002-8474-2671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fulin Tang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8474-2671","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100645164","display_name":"Yihong Wu","orcid":"https://orcid.org/0000-0003-2198-9113"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Wu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2198-9113","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.609,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97687538,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5158","last_page":"5165"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/rss","display_name":"RSS","score":0.9087132215499878},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6246867179870605},{"id":"https://openalex.org/keywords/extraction","display_name":"Extraction (chemistry)","score":0.5605538487434387},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5167462229728699},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4733923673629761},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44394245743751526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22781193256378174},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12957733869552612},{"id":"https://openalex.org/keywords/chromatography","display_name":"Chromatography","score":0.07417604327201843},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.051899999380111694}],"concepts":[{"id":"https://openalex.org/C2385561","wikidata":"https://www.wikidata.org/wiki/Q45432","display_name":"RSS","level":2,"score":0.9087132215499878},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6246867179870605},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.5605538487434387},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5167462229728699},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4733923673629761},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44394245743751526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22781193256378174},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12957733869552612},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.07417604327201843},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.051899999380111694},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3388854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3388854","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1878529151","display_name":null,"funder_award_id":"62202468","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2085261163","https://openalex.org/W2104974755","https://openalex.org/W2121029369","https://openalex.org/W2150066425","https://openalex.org/W2396274919","https://openalex.org/W2410627718","https://openalex.org/W2535547924","https://openalex.org/W2909908358","https://openalex.org/W2940237668","https://openalex.org/W2968893828","https://openalex.org/W2971193004","https://openalex.org/W3088834526","https://openalex.org/W3090386798","https://openalex.org/W3098550868","https://openalex.org/W3102327032","https://openalex.org/W3130023978","https://openalex.org/W3130066555","https://openalex.org/W3136733000","https://openalex.org/W3158546377","https://openalex.org/W3174270524","https://openalex.org/W3207290493","https://openalex.org/W4205283555","https://openalex.org/W4283832649","https://openalex.org/W4288064527","https://openalex.org/W4296550497","https://openalex.org/W4383108365","https://openalex.org/W4383108801","https://openalex.org/W4383108876","https://openalex.org/W4390189692","https://openalex.org/W6761722676","https://openalex.org/W6843059007"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","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":{"Planar":[0],"structures,":[1],"prevalent":[2],"in":[3,152,184],"man-made":[4],"environments,":[5],"can":[6],"be":[7],"observed":[8],"by":[9,50],"a":[10,42,54,97],"camera":[11],"for":[12,29],"significant":[13,150],"periods":[14],"of":[15,61,134,168,199],"time":[16],"due":[17],"to":[18,130],"their":[19],"large":[20],"spatial":[21],"presence.":[22],"These":[23],"structures":[24],"provide":[25],"strong":[26],"planar":[27],"regularities":[28],"Simultaneous":[30],"Localization":[31],"and":[32,67,76,89,105,107,122,156,187,189],"Mapping":[33],"(SLAM)":[34],"systems,":[35],"facilitating":[36],"long-term":[37],"navigation.":[38],"Therefore,":[39],"we":[40,95],"propose":[41],"novel":[43,98],"point-plane-based":[44,163],"stereo":[45,69,87,162],"SLAM":[46,135,180],"system,":[47],"fully":[48,126],"regularized":[49],"plane":[51,70,123,128,139],"features":[52],"within":[53],"unified":[55],"non-linear":[56],"optimization":[57,99],"framework.":[58],"The":[59,137,166],"core":[60],"our":[62],"method":[63],"is":[64,142],"an":[65,169],"accurate":[66],"efficient":[68],"extraction":[71,140],"algorithm":[72,141],"with":[73],"strict":[74],"2D":[75],"3D":[77],"outlier":[78],"rejection":[79],"mechanisms,":[80],"effectively":[81],"extracting":[82],"main":[83],"planes":[84],"from":[85],"robust":[86],"correspondences":[88],"enabling":[90],"real-time":[91],"point-plane":[92],"association.":[93],"Furthermore,":[94],"introduce":[96],"formulation,":[100],"incorporating":[101],"geometric":[102],"feature":[103],"(point":[104],"plane)":[106],"across-feature":[108],"(point-on-plane)":[109],"constraints":[110,118,129],"that":[111,177],"promote":[112],"each":[113],"other":[114],"through":[115],"the":[116,132,145,159,178,192,196],"mutual":[117,193],"between":[119,195],"associated":[120],"point":[121],"features,":[124],"which":[125],"exploits":[127],"improve":[131],"performance":[133],"system.":[136],"proposed":[138,179],"evaluated":[143],"on":[144,172],"EuRoC":[146],"MAV":[147],"dataset,":[148],"achieving":[149],"improvements":[151],"number,":[153],"accuracy,":[154],"reliability,":[155],"efficiency":[157],"over":[158],"state-of-the-art":[160],"(SOTA)":[161],"system":[164,181],"[1].":[165],"results":[167],"ablation":[170],"study":[171],"two":[173,197],"public":[174],"datasets":[175],"show":[176],"outperforms":[182],"[1]":[183],"both":[185],"accuracy":[186],"robustness,":[188],"further":[190],"demonstrate":[191],"enhancement":[194],"types":[198],"constraints.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}