{"id":"https://openalex.org/W3115853198","doi":"https://doi.org/10.1109/rcar49640.2020.9303325","title":"Real-Time Visual Perception System for a Robotic Rat","display_name":"Real-Time Visual Perception System for a Robotic Rat","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3115853198","doi":"https://doi.org/10.1109/rcar49640.2020.9303325","mag":"3115853198"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5044165775","display_name":"Guanglu Jia","orcid":"https://orcid.org/0000-0001-8245-4900"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guanglu Jia","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011265988","display_name":"Qing Shi","orcid":"https://orcid.org/0009-0009-6112-0309"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Shi","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418568","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0003-3957-7061"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076450290","display_name":"Yi Xu","orcid":"https://orcid.org/0000-0003-4215-1993"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Xu","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429535","display_name":"Chang Li","orcid":"https://orcid.org/0000-0002-8882-6055"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Li","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034493250","display_name":"Mengchao Ma","orcid":"https://orcid.org/0000-0001-9682-7499"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengchao Ma","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"the Key Laboratory of Biomimetic Robots and Systems, (Beijing Institute of Technology), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5044165775"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.6902,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79685976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"27","issue":null,"first_page":"93","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9815999865531921,"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":0.973800003528595,"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-vision","display_name":"Computer vision","score":0.7631328105926514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.724918007850647},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6668144464492798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.661147952079773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578402519226074},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.620829701423645},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5946275591850281},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5578579902648926},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5176968574523926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5159167051315308},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4703391194343567}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7631328105926514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.724918007850647},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6668144464492798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.661147952079773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578402519226074},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.620829701423645},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5946275591850281},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5578579902648926},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5176968574523926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5159167051315308},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4703391194343567},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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":21,"referenced_works":["https://openalex.org/W1512289473","https://openalex.org/W2081993287","https://openalex.org/W2141686820","https://openalex.org/W2404227043","https://openalex.org/W2477593094","https://openalex.org/W2535547924","https://openalex.org/W2621274416","https://openalex.org/W2771156974","https://openalex.org/W2892321090","https://openalex.org/W2896695478","https://openalex.org/W2898231767","https://openalex.org/W2910528191","https://openalex.org/W2913680765","https://openalex.org/W2914693969","https://openalex.org/W2924290175","https://openalex.org/W2938458040","https://openalex.org/W2943461297","https://openalex.org/W2995975448","https://openalex.org/W2996416548","https://openalex.org/W3102327032","https://openalex.org/W6772098192"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"The":[0,90,158],"visual":[1,51],"sensing":[2],"ability":[3,35],"of":[4,22,108,134,142],"the":[5,12,16,23,42,55,69,88,101,106,115,129,135,152,163,172],"robotic":[6,26],"rat":[7],"will":[8],"be":[9],"conducive":[10],"to":[11,36,126,171],"biomimetic":[13],"interaction":[14],"between":[15],"robot":[17],"and":[18,61,72,84,98,113,120,132,146,168],"rats.":[19],"However,":[20],"most":[21],"existing":[24],"small-sized":[25],"rats":[27,110],"do":[28],"not":[29],"have":[30],"perception":[31,52,131],"system,":[32,63],"limiting":[33],"their":[34,38],"perceive":[37],"surroundings":[39],"or":[40],"tracing":[41],"object.":[43],"To":[44],"address":[45],"this":[46],"problem,":[47],"we":[48,104],"developed":[49],"a":[50,59,64,73],"system":[53,92,139],"for":[54],"robot,":[56],"which":[57],"included":[58],"control":[60],"drive":[62],"stereo":[65],"camera":[66],"integrated":[67],"in":[68],"robot's":[70,130],"head,":[71],"wireless":[74],"image":[75],"transmission":[76],"system.":[77],"We":[78],"also":[79],"analyzed":[80,114],"wheel":[81],"odometry":[82],"model":[83],"integrate":[85],"it":[86],"into":[87],"robot.":[89],"whole":[91],"can":[93],"achieve":[94],"real-time":[95],"data":[96],"acquisition":[97],"processing.":[99],"In":[100],"experimental":[102,159],"scene,":[103],"extracted":[105],"number":[107],"dynamic":[109],"feature":[111,122],"points":[112,123],"impact":[116],"on":[117],"environment":[118],"modeling,":[119],"these":[121],"were":[124],"easy":[125],"interfere":[127],"with":[128,174],"modeling":[133],"environment.":[136],"Additionally,":[137],"our":[138],"was":[140,165],"capable":[141],"SLAM":[143],"(Simultaneous":[144],"Localization":[145],"Mapping)":[147,156],"when":[148],"tested":[149],"by":[150],"using":[151],"RTAB-Map":[153],"(Real-Time":[154],"Appearance-Based":[155],"algorithm.":[157],"results":[160],"showed":[161],"that":[162],"trajectory":[164],"basically":[166],"coherent":[167],"finally":[169],"returns":[170],"origin":[173],"less":[175],"drift.":[176]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}