{"id":"https://openalex.org/W3001015432","doi":"https://doi.org/10.1109/robio49542.2019.8961397","title":"Visual SLAM Based on Dynamic Object Removal","display_name":"Visual SLAM Based on Dynamic Object Removal","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001015432","doi":"https://doi.org/10.1109/robio49542.2019.8961397","mag":"3001015432"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101960378","display_name":"Hanjie Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanjie Liu","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714422","display_name":"Guoliang Liu","orcid":"https://orcid.org/0000-0001-6614-6932"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoliang Liu","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654953","display_name":"Guohui Tian","orcid":"https://orcid.org/0000-0001-8332-3064"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guohui Tian","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,Shandong,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062030077","display_name":"Shiqing Xin","orcid":"https://orcid.org/0000-0001-8452-8723"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqing Xin","raw_affiliation_strings":["Shandong University,School of Computer Science and Technology,Qingdao,Shandong,China","School of Computer Science and Technology, Shandong University, Qingdao, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Computer Science and Technology,Qingdao,Shandong,China","institution_ids":["https://openalex.org/I80143920"]},{"raw_affiliation_string":"School of Computer Science and Technology, Shandong University, Qingdao, Shandong, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,UK,CF24 3AA","School of Engineering, Cardiff University, Cardiff, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,UK,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"596","last_page":"601"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8799543380737305},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.838225245475769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.783586859703064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.741266667842865},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7151281833648682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5869836807250977},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4855031967163086},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45067620277404785},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4279060661792755},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35769855976104736},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21758940815925598},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.1295725703239441}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8799543380737305},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.838225245475769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.783586859703064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.741266667842865},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7151281833648682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5869836807250977},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4855031967163086},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45067620277404785},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4279060661792755},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35769855976104736},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21758940815925598},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.1295725703239441}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:126998","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1989484209","https://openalex.org/W2020310389","https://openalex.org/W2024932032","https://openalex.org/W2025650452","https://openalex.org/W2032386486","https://openalex.org/W2058535340","https://openalex.org/W2076917298","https://openalex.org/W2102605133","https://openalex.org/W2118877769","https://openalex.org/W2119605622","https://openalex.org/W2131846894","https://openalex.org/W2133674408","https://openalex.org/W2151103935","https://openalex.org/W2153054365","https://openalex.org/W2172188317","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2613718673","https://openalex.org/W2735010494","https://openalex.org/W2796347433","https://openalex.org/W2945487881","https://openalex.org/W2950989657","https://openalex.org/W2953106684","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W4293584584","https://openalex.org/W6620707391","https://openalex.org/W6677548441","https://openalex.org/W6679765677","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2095705906","https://openalex.org/W4281560450","https://openalex.org/W2975200075","https://openalex.org/W2970243024","https://openalex.org/W2007544051","https://openalex.org/W2965672371","https://openalex.org/W2732308154","https://openalex.org/W1988485990","https://openalex.org/W3088631390","https://openalex.org/W2058063222"],"abstract_inverted_index":{"Visual":[0],"simultaneous":[1],"localization":[2],"and":[3,79,106],"mapping":[4],"(SLAM)":[5],"is":[6,22,83],"the":[7,20,30,32,41,53,63,86,108,113,116],"core":[8],"of":[9,34,43,46,115],"intelligent":[10],"robot":[11,58],"navigation":[12],"system.":[13],"Many":[14],"traditional":[15],"SLAM":[16,36,54,88,109],"algorithms":[17],"assume":[18],"that":[19,75,97],"scene":[21],"static.":[23],"When":[24],"a":[25,70],"dynamic":[26,44,65,71,91],"object":[27,72,77,104],"appears":[28],"in":[29,62,85],"environment,":[31],"accuracy":[33],"visual":[35,87],"can":[37,101],"degrade":[38],"due":[39],"to":[40,112],"interference":[42],"features":[45],"moving":[47,103],"objects.":[48],"This":[49],"strong":[50],"hypothesis":[51],"limits":[52],"applications":[55],"for":[56,90],"service":[57],"or":[59],"driverless":[60],"car":[61],"real":[64],"environment.":[66],"In":[67],"this":[68],"paper,":[69],"removal":[73],"algorithm":[74],"combines":[76],"recognition":[78],"optical":[80],"flow":[81],"techniques":[82],"proposed":[84],"framework":[89],"scenes.":[92],"The":[93],"experimental":[94],"results":[95],"show":[96],"our":[98],"new":[99],"method":[100],"detect":[102],"effectively":[105],"improve":[107],"performance":[110],"compared":[111],"state":[114],"art":[117],"methods.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}