{"id":"https://openalex.org/W2920980026","doi":"https://doi.org/10.1109/robio.2018.8664893","title":"An Accurate Localization Scheme for Mobile Robots Using Optical Flow in Dynamic Environments","display_name":"An Accurate Localization Scheme for Mobile Robots Using Optical Flow in Dynamic Environments","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920980026","doi":"https://doi.org/10.1109/robio.2018.8664893","mag":"2920980026"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jiyu Cheng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039935452","display_name":"Yuxiang Sun","orcid":"https://orcid.org/0000-0002-7704-0559"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuxiang Sun","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014759749","display_name":"Wenzheng Chi","orcid":"https://orcid.org/0000-0002-8121-2624"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenzheng Chi","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080724728","display_name":"Hu Cheng","orcid":"https://orcid.org/0000-0002-2090-1362"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hu Cheng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015250843"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":18.2,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98612263,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"723","last_page":"728"},"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":0.9970999956130981,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"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":0.700356125831604},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6810312867164612},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6295489072799683},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6109613180160522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5662492513656616},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.4897892475128174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3139204978942871},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11757045984268188},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07587140798568726}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700356125831604},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6810312867164612},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6295489072799683},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6109613180160522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5662492513656616},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4897892475128174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3139204978942871},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11757045984268188},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07587140798568726},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8664893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2020310389","https://openalex.org/W2021851106","https://openalex.org/W2035379092","https://openalex.org/W2109635530","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2216550548","https://openalex.org/W2248805773","https://openalex.org/W2296267969","https://openalex.org/W2411412724","https://openalex.org/W2474281075","https://openalex.org/W2556215627","https://openalex.org/W2735010494","https://openalex.org/W3103648783","https://openalex.org/W4246614213","https://openalex.org/W6691536624","https://openalex.org/W6721610202"],"related_works":["https://openalex.org/W1975289146","https://openalex.org/W4386083130","https://openalex.org/W2117442182","https://openalex.org/W3111737715","https://openalex.org/W2069571255","https://openalex.org/W3125517176","https://openalex.org/W2087240539","https://openalex.org/W2105887828","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Visual":[0,33,82,132],"Simultaneous":[1],"Localization":[2],"and":[3,14,57,97,119],"Mapping":[4],"(Visual":[5],"SLAM)":[6],"has":[7],"been":[8,19],"studied":[9],"for":[10,85],"the":[11,38,67,71,81,94,99,107,128,131],"past":[12],"years":[13],"many":[15],"state-of-the-art":[16],"algorithms":[17,35],"have":[18],"proposed":[20,100],"with":[21,93,102],"rather":[22],"satisfactory":[23],"performance":[24,129],"in":[25,29,115,134],"static":[26,75],"scenarios.":[27,136],"However,":[28],"dynamic":[30,59,104,135],"scenarios,":[31],"off-the-shelf":[32],"SLAM":[34,83,133],"cannot":[36],"localize":[37],"robot":[39],"very":[40],"accurately.":[41],"To":[42],"address":[43],"this":[44],"problem,":[45],"we":[46],"propose":[47],"a":[48],"novel":[49],"method":[50,92,101,125],"that":[51,123],"uses":[52],"optical":[53],"flow":[54],"to":[55],"distinguish":[56],"eliminate":[58],"feature":[60,76],"points":[61,77],"from":[62,106],"extracted":[63],"ones":[64],"by":[65],"using":[66],"RGB":[68],"images":[69],"as":[70],"only":[72],"input.":[73],"The":[74,110],"are":[78],"fed":[79],"into":[80],"algorithm":[84],"camera":[86],"pose":[87],"estimation.":[88],"We":[89],"integrate":[90],"our":[91,124],"ORB-SLAM":[95],"system":[96,112],"validate":[98],"challenging":[103],"sequences":[105],"TUM":[108],"dataset.":[109],"entire":[111],"can":[113],"run":[114],"real":[116],"time.":[117],"Qualitative":[118],"quantitative":[120],"evaluations":[121],"demonstrate":[122],"significantly":[126],"improves":[127],"of":[130]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
