{"id":"https://openalex.org/W3214193809","doi":"https://doi.org/10.1109/mfi52462.2021.9591171","title":"Towards Robust VSLAM in Dynamic Environments: A Light Field Approach","display_name":"Towards Robust VSLAM in Dynamic Environments: A Light Field Approach","publication_year":2021,"publication_date":"2021-09-23","ids":{"openalex":"https://openalex.org/W3214193809","doi":"https://doi.org/10.1109/mfi52462.2021.9591171","mag":"3214193809"},"language":"en","primary_location":{"id":"doi:10.1109/mfi52462.2021.9591171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi52462.2021.9591171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","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/A5066616671","display_name":"Pushyami Kaveti","orcid":"https://orcid.org/0000-0002-2182-7985"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pushyami Kaveti","raw_affiliation_strings":["Khoury College of Computer Sciences, Northeastern University, Boston"],"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Sciences, Northeastern University, Boston","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017701582","display_name":"Jagatpreet Singh Nir","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jagatpreet Singh Nir","raw_affiliation_strings":["Northeastern University, Boston"],"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanumant Singh","raw_affiliation_strings":["Northeastern University, Boston"],"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066616671"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":1.02,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83047602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"19","issue":null,"first_page":"1","last_page":"8"},"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":0.9980000257492065,"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":0.9976000189781189,"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-science","display_name":"Computer science","score":0.7860859632492065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7506657838821411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7168771624565125},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6961265802383423},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6227318048477173},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.573712944984436},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5648691058158875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.505612850189209},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.45744630694389343},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.4178241789340973},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24255377054214478},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10645678639411926}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7860859632492065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7506657838821411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7168771624565125},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6961265802383423},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6227318048477173},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.573712944984436},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5648691058158875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.505612850189209},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.45744630694389343},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.4178241789340973},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24255377054214478},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10645678639411926},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/mfi52462.2021.9591171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi52462.2021.9591171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1912649600","https://openalex.org/W1979177351","https://openalex.org/W1998058414","https://openalex.org/W2053740312","https://openalex.org/W2063366997","https://openalex.org/W2068763856","https://openalex.org/W2105198794","https://openalex.org/W2117127313","https://openalex.org/W2118791399","https://openalex.org/W2128359381","https://openalex.org/W2131925136","https://openalex.org/W2134091142","https://openalex.org/W2136733503","https://openalex.org/W2137313943","https://openalex.org/W2151290401","https://openalex.org/W2167696327","https://openalex.org/W2200825767","https://openalex.org/W2461937780","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2561341811","https://openalex.org/W2751225115","https://openalex.org/W2753230437","https://openalex.org/W2788608285","https://openalex.org/W2808571300","https://openalex.org/W2890090517","https://openalex.org/W2890213701","https://openalex.org/W2895485186","https://openalex.org/W2910744572","https://openalex.org/W2945387879","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W3003179103","https://openalex.org/W3028228043","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W6640185247","https://openalex.org/W6668041581","https://openalex.org/W6680152570","https://openalex.org/W6762554135"],"related_works":["https://openalex.org/W132764016","https://openalex.org/W2148054235","https://openalex.org/W4251504644","https://openalex.org/W2132043085","https://openalex.org/W2751063144","https://openalex.org/W1985830928","https://openalex.org/W2406670120","https://openalex.org/W2004690548","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"There":[0],"is":[1,46],"a":[2,39,55,62,102,116,145],"general":[3],"expectation":[4],"that":[5],"robots":[6],"should":[7],"operate":[8],"in":[9,65,115,154,161],"urban":[10],"environments":[11,163],"often":[12],"consisting":[13],"of":[14,57,109,119,133,139,147,158,169],"potentially":[15],"dynamic":[16,49,72,86,121,162],"entities":[17],"like":[18],"people,":[19],"automobiles":[20],"etc.":[21],"Dynamic":[22],"objects":[23,73,87],"pose":[24,159],"challenges":[25],"to":[26,48,69,175],"visual":[27],"SLAM":[28,43],"algorithms":[29],"by":[30,164],"introducing":[31],"errors":[32],"into":[33],"the":[34,75,97,120,129,134,170],"front-end.":[35],"This":[36],"paper":[37],"presents":[38],"Light":[40,52,98],"Field":[41,53,99],"powered":[42],"front-end":[44],"which":[45],"robust":[47],"environments.":[50],"A":[51],"captures":[54],"bundle":[56],"light":[58],"rays":[59],"emerging":[60],"from":[61,101,128],"single":[63],"point":[64],"space,":[66],"allowing":[67],"us":[68],"see":[70],"through":[71],"occluding":[74],"static":[76,131],"background":[77],"via":[78],"Synthetic":[79],"Aperture":[80],"Imaging":[81],"(SAI).":[82],"We":[83,150],"detect":[84],"apriori":[85],"using":[88],"semantic":[89,93,112],"segmentation":[90,113],"and":[91,123,156],"perform":[92],"guided":[94],"SAI":[95,110],"on":[96],"acquired":[100],"linear":[103],"camera":[104],"array.":[105],"The":[106,136],"combined":[107],"use":[108],"with":[111,167],"results":[114],"significant":[117],"reduction":[118],"content":[122],"also":[124],"adds":[125],"valuable":[126],"observations":[127],"occluded":[130],"parts":[132],"scene.":[135],"GPU":[137],"implementation":[138],"our":[140],"algorithm":[141],"facilitates":[142],"running":[143],"at":[144],"speed":[146],"~6":[148],"fps.":[149],"demonstrate":[151],"considerable":[152],"improvement":[153],"robustness":[155],"accuracy":[157],"estimation":[160],"comparing":[165],"it":[166],"state":[168],"art":[171],"VSLAM":[172],"algorithms.":[173],"Link":[174],"video":[176],"demo:":[177],"https://rb.gy/mwt5tv":[178]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}