{"id":"https://openalex.org/W4226257586","doi":"https://doi.org/10.1109/robio54168.2021.9739516","title":"Robust Indoor Visual-Inertial SLAM with Pedestrian Detection","display_name":"Robust Indoor Visual-Inertial SLAM with Pedestrian Detection","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226257586","doi":"https://doi.org/10.1109/robio54168.2021.9739516"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739516","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100711240","display_name":"Heng Zhang","orcid":"https://orcid.org/0000-0001-8436-5549"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Heng Zhang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029"],"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058264767","display_name":"Ran Huang","orcid":"https://orcid.org/0000-0003-3768-6141"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Huang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029"],"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100390896","display_name":"Liang Yuan","orcid":"https://orcid.org/0000-0002-7068-8766"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Yuan","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029"],"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science &#x0026; Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100711240"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":1.695,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85983749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"802","last_page":"807"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962999820709229,"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/computer-science","display_name":"Computer science","score":0.8042960166931152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7704442143440247},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.747286319732666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7344921827316284},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7321908473968506},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6788679361343384},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5425527691841125},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48085007071495056},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48008185625076294},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4532325565814972},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.42026007175445557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38476699590682983},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2948659658432007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11240091919898987}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8042960166931152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7704442143440247},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.747286319732666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7344921827316284},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7321908473968506},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6788679361343384},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5425527691841125},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48085007071495056},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48008185625076294},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4532325565814972},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.42026007175445557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38476699590682983},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2948659658432007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11240091919898987},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739516","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1016266425","https://openalex.org/W2068763856","https://openalex.org/W2118223742","https://openalex.org/W2127752689","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2562779487","https://openalex.org/W2735010494","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W3028228043","https://openalex.org/W3043971245","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W4230766380","https://openalex.org/W6626500248","https://openalex.org/W6778471983"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W2091018038","https://openalex.org/W2101960027","https://openalex.org/W2197846993","https://openalex.org/W49697837","https://openalex.org/W2586575957","https://openalex.org/W3122828758","https://openalex.org/W2991246638","https://openalex.org/W2382856674"],"abstract_inverted_index":{"Most":[0],"Simultaneous":[1],"Localization":[2],"and":[3,38,43,50,80,109,128,132,143],"Mapping":[4],"(SLAM)":[5],"systems":[6,21],"are":[7,94],"designed":[8],"based":[9],"on":[10,78,92,125],"the":[11,17,33,39,99,114,133],"scene":[12],"rigidity":[13],"assumption,":[14],"which":[15],"limits":[16],"applications":[18],"of":[19,35,41,117],"SLAM":[20,66],"in":[22,58,102,129,147],"highly":[23],"dynamic":[24,69,103],"environments.":[25,104,149],"In":[26,60],"addition,":[27],"a":[28,63,81],"single":[29],"sensor":[30],"cannot":[31],"meet":[32],"needs":[34],"complex":[36],"environments,":[37],"fusion":[40],"visual":[42],"inertial":[44],"sensors":[45],"that":[46,136],"can":[47,112,139],"provide":[48],"robust":[49],"accurate":[51],"6DOF":[52],"pose":[53],"estimation":[54],"has":[55],"become":[56],"popular":[57],"robotics.":[59],"this":[61],"work,":[62],"novel":[64],"visual-inertial":[65],"system":[67,123,138],"towards":[68],"indoor":[70],"scenarios":[71],"is":[72,76,85],"proposed.":[73],"Our":[74],"approach":[75],"built":[77],"ORB-SLAM3,":[79],"semantic":[82],"segmentation":[83,110],"thread":[84,108,111],"added":[86],"to":[87,97],"detect":[88],"pedestrians.":[89],"Feature":[90],"points":[91],"people":[93],"avoided":[95],"extracting":[96],"improve":[98,113],"localization":[100],"accuracy":[101,144],"The":[105],"parallel":[106],"tracking":[107],"real-time":[115],"performance":[116],"our":[118,122,137],"algorithm.":[119],"We":[120],"test":[121],"both":[124],"TUM-VI":[126],"dataset":[127],"real-world":[130],"environment,":[131],"results":[134],"show":[135],"achieve":[140],"better":[141],"robustness":[142],"than":[145],"ORB-SLAM3":[146],"populated":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
