{"id":"https://openalex.org/W4411687939","doi":"https://doi.org/10.1109/lra.2025.3583611","title":"DGO-VINS: A Visual-Inertial SLAM for Dynamic Environments With Geometric Constraint and Adaptive State Optimization","display_name":"DGO-VINS: A Visual-Inertial SLAM for Dynamic Environments With Geometric Constraint and Adaptive State Optimization","publication_year":2025,"publication_date":"2025-06-26","ids":{"openalex":"https://openalex.org/W4411687939","doi":"https://doi.org/10.1109/lra.2025.3583611"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3583611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3583611","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5090654333","display_name":"Xiaotao Liu","orcid":"https://orcid.org/0000-0003-4544-760X"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaotao Liu","raw_affiliation_strings":["Guangzhou Institute of Technology, Xidian University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Institute of Technology, Xidian University, Guangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101957206","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0003-3900-7173"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Guangzhou Institute of Technology, Xidian University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Institute of Technology, Xidian University, Guangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087724445","display_name":"Gao Qing Lu","orcid":"https://orcid.org/0000-0002-1456-6983"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaojie Lu","raw_affiliation_strings":["Guangzhou Institute of Technology, Xidian University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Institute of Technology, Xidian University, Guangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102876039","display_name":"Shuangjiang Li","orcid":"https://orcid.org/0000-0001-6968-2458"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangjiang Li","raw_affiliation_strings":["Guangzhou Institute of Technology, Xidian University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Institute of Technology, Xidian University, Guangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100375038","display_name":"Jing Liu","orcid":"https://orcid.org/0000-0002-6834-5350"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Liu","raw_affiliation_strings":["Guangzhou Institute of Technology, Xidian University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Institute of Technology, Xidian University, Guangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090654333"],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":10.6048,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.97484656,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"8","first_page":"8091","last_page":"8098"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9965000152587891,"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":0.9926000237464905,"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/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6176596879959106},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6160830855369568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5633983612060547},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5338823199272156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46955281496047974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4399195909500122},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1947641372680664},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13707855343818665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10127007961273193},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06626540422439575},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05846363306045532}],"concepts":[{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6176596879959106},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6160830855369568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5633983612060547},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5338823199272156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46955281496047974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4399195909500122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1947641372680664},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13707855343818665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10127007961273193},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06626540422439575},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05846363306045532}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3583611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3583611","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2100315781","https://openalex.org/W2745859992","https://openalex.org/W2945772959","https://openalex.org/W2950989657","https://openalex.org/W3043971245","https://openalex.org/W3089936780","https://openalex.org/W3120564201","https://openalex.org/W3133648073","https://openalex.org/W3153752809","https://openalex.org/W3193809486","https://openalex.org/W3206096534","https://openalex.org/W4225747367","https://openalex.org/W4285507666","https://openalex.org/W4293094564","https://openalex.org/W4293812019","https://openalex.org/W4312290933","https://openalex.org/W4378697007","https://openalex.org/W4384787996","https://openalex.org/W4393148493","https://openalex.org/W4396753575","https://openalex.org/W4401284370","https://openalex.org/W4401415152","https://openalex.org/W4401607782","https://openalex.org/W4404370967","https://openalex.org/W6798838024"],"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":{"Traditional":[0],"SLAM":[1,32],"performs":[2],"well":[3,149],"in":[4,15,21,63,151,176],"static":[5,61],"environments,":[6,23,153],"but":[7],"experiences":[8],"degeneration":[9],"of":[10,60,123,179],"localization":[11,171],"accuracy":[12,172],"and":[13,38,83,88,127,173],"stability":[14],"dynamic":[16,22,30,64,70,91,97,125,180],"settings.":[17],"To":[18],"enhance":[19],"performance":[20],"this":[24,135],"letter":[25],"presents":[26],"DGO-VINS,":[27],"a":[28,44,69,114,177],"real-time":[29],"visual-inertial":[31],"system":[33,140],"based":[34,133],"on":[35,134,143],"geometric":[36,85],"constraint":[37],"moving":[39,121,136],"probability.":[40,137],"First,":[41],"we":[42,67],"propose":[43],"semantic-integrated":[45],"feature":[46,53,71],"detection":[47,54],"method":[48,108,112,165],"that":[49,74,162],"adaptively":[50],"adjusts":[51],"the":[52,58,100,120,163],"area,":[55],"effectively":[56],"addressing":[57],"scarcity":[59],"features":[62,98,126],"environments.":[65,181],"Subsequently,":[66],"introduce":[68],"rejection":[72],"algorithm":[73],"integrates":[75],"Inertial":[76],"Measurement":[77],"Unit":[78],"(IMU)":[79],"measurements,":[80],"semantic":[81],"information,":[82],"multi-view":[84],"constraint,":[86],"accurately":[87],"efficiently":[89],"removing":[90],"features.":[92],"Finally,":[93],"to":[94,118,154],"incorporate":[95],"potential":[96,124],"into":[99],"optimization":[101,107],"process":[102],"robustly,":[103],"an":[104,129],"adaptive":[105,130],"state":[106],"is":[109],"proposed.":[110],"This":[111],"uses":[113],"binary":[115],"Bayesian":[116],"filter":[117],"estimate":[119],"probability":[122],"constructs":[128],"loss":[131],"function":[132],"The":[138,158],"proposed":[139,164],"was":[141],"evaluated":[142],"multiple":[144],"publicly":[145],"available":[146],"datasets,":[147],"as":[148,150],"real-world":[152],"verify":[155],"its":[156],"effectiveness.":[157],"experimental":[159],"results":[160],"demonstrate":[161],"surpasses":[166],"existing":[167],"approaches,":[168],"delivering":[169],"improved":[170],"greater":[174],"robustness":[175],"variety":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
