{"id":"https://openalex.org/W4317382672","doi":"https://doi.org/10.1109/robio55434.2022.10011870","title":"Toward the Resilient SLAM in Adverse Illumination Environments with Learning-based Image Transformation","display_name":"Toward the Resilient SLAM in Adverse Illumination Environments with Learning-based Image Transformation","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382672","doi":"https://doi.org/10.1109/robio55434.2022.10011870"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011870","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011870","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/A5032733287","display_name":"Xuhui Zhao","orcid":"https://orcid.org/0000-0001-8401-9718"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuhui Zhao","raw_affiliation_strings":["School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","Hubei Luojia Laboratory, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013205871","display_name":"Zhaohong Liao","orcid":"https://orcid.org/0000-0002-0606-9397"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaohong Liao","raw_affiliation_strings":["School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761149","display_name":"Xin Wu","orcid":"https://orcid.org/0000-0002-1733-3560"},"institutions":[{"id":"https://openalex.org/I4401726805","display_name":"Megvii (China)","ror":"https://ror.org/040b32p69","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726805"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wu","raw_affiliation_strings":["Megvii Technology,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Megvii Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I4401726805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436394","display_name":"Chenyang Li","orcid":"https://orcid.org/0000-0003-2235-2317"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Li","raw_affiliation_strings":["School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100614656","display_name":"Jingwei Chen","orcid":"https://orcid.org/0000-0003-4556-1955"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingwei Chen","raw_affiliation_strings":["School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084683976","display_name":"Zhi Gao","orcid":"https://orcid.org/0000-0003-3325-1183"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Gao","raw_affiliation_strings":["School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","Hubei Luojia Laboratory, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineeringm Wuhan University,Wuhan,China,430079","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032733287"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":1.3228,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.83037442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"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":0.9997000098228455,"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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":0.9968000054359436,"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":0.7761298418045044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7013537883758545},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6438018083572388},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5976126790046692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5205181837081909},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.49157795310020447},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.44614851474761963},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4295048713684082},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4208996593952179},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41833627223968506},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41159743070602417},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13447225093841553}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7761298418045044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7013537883758545},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6438018083572388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5976126790046692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5205181837081909},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.49157795310020447},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.44614851474761963},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4295048713684082},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4208996593952179},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41833627223968506},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41159743070602417},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13447225093841553},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011870","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011870","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W1485009520","https://openalex.org/W2008849352","https://openalex.org/W2015589393","https://openalex.org/W2045336852","https://openalex.org/W2058535340","https://openalex.org/W2107858703","https://openalex.org/W2115579991","https://openalex.org/W2118041153","https://openalex.org/W2146086273","https://openalex.org/W2160072137","https://openalex.org/W2254039850","https://openalex.org/W2320444803","https://openalex.org/W2396274919","https://openalex.org/W2531409750","https://openalex.org/W2535547924","https://openalex.org/W2575511118","https://openalex.org/W2618066342","https://openalex.org/W2737223639","https://openalex.org/W2742697113","https://openalex.org/W2756159298","https://openalex.org/W2782695305","https://openalex.org/W2783573276","https://openalex.org/W2793027874","https://openalex.org/W2889607906","https://openalex.org/W2892399634","https://openalex.org/W2893273889","https://openalex.org/W2893333553","https://openalex.org/W2909157769","https://openalex.org/W2928530452","https://openalex.org/W2949187370","https://openalex.org/W2960033181","https://openalex.org/W2963121367","https://openalex.org/W2963200201","https://openalex.org/W2963359064","https://openalex.org/W3003858288","https://openalex.org/W3003934604","https://openalex.org/W3005115381","https://openalex.org/W3015235064","https://openalex.org/W3034275286","https://openalex.org/W3035731588","https://openalex.org/W3043075211","https://openalex.org/W3100627312","https://openalex.org/W3102327032","https://openalex.org/W3104804161","https://openalex.org/W3112226520","https://openalex.org/W3116364957","https://openalex.org/W3121661546","https://openalex.org/W3128639218","https://openalex.org/W3131341185","https://openalex.org/W3132708911","https://openalex.org/W3164145339","https://openalex.org/W3182569554","https://openalex.org/W3202487934","https://openalex.org/W3209083247","https://openalex.org/W3214264009","https://openalex.org/W4200546661","https://openalex.org/W4206560615","https://openalex.org/W4287262265","https://openalex.org/W4288016796","https://openalex.org/W6628877408","https://openalex.org/W6677813211","https://openalex.org/W6754146604","https://openalex.org/W6755037456","https://openalex.org/W6769772563","https://openalex.org/W6780617976","https://openalex.org/W6792068349","https://openalex.org/W6795828669","https://openalex.org/W6803530569"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4226493464","https://openalex.org/W3133861977","https://openalex.org/W2951211570","https://openalex.org/W3103566983"],"abstract_inverted_index":{"Numerous":[0],"bio-inspired":[1],"vision":[2],"robots":[3],"are":[4,10],"applied":[5],"to":[6,21,30,34,95,142],"various":[7],"environments,":[8],"which":[9],"usually":[11],"in":[12,57,106,134,144],"adverse":[13,194],"illumination":[14,74,105],"(low,":[15],"intense,":[16],"unstable":[17],"light),":[18],"bringing":[19],"challenges":[20],"visual":[22,80],"SLAM.":[23,81,135],"Thus,":[24],"it":[25],"is":[26,182],"of":[27,38,60,100,169],"great":[28],"importance":[29],"improve":[31],"its":[32],"robustness":[33],"sustain":[35],"the":[36,53,58,69,85,97,101,112,130,139,165,183],"autonomy":[37],"intelligent":[39],"robots.":[40],"However,":[41],"most":[42],"existing":[43],"works":[44],"focus":[45],"on":[46,155],"single":[47],"and":[48,89,104,119,126,148,158,161,167,175],"simple":[49],"tasks":[50],"rather":[51],"than":[52],"SLAM":[54,62,185],"explicitly,":[55],"resulting":[56],"lack":[59],"resilient":[61],"towards":[63],"challenging":[64],"lighting.":[65],"To":[66,177],"break":[67],"through":[68],"dilemma,":[70],"we":[71,83,110,137],"propose":[72],"an":[73],"enhancement":[75,191],"neural":[76],"network":[77,113,125,141,192],"tailored":[78,189],"for":[79,121,132,193],"First,":[82],"introduce":[84],"optical":[86],"flow":[87],"constraints":[88],"LSTM":[90],"(Long":[91],"Short":[92],"Term":[93],"Memory)":[94],"exploit":[96],"potential":[98],"consistency":[99],"frame-wise":[102],"movement":[103],"tempo-spatial":[107],"sequences.":[108],"Second,":[109],"implement":[111],"with":[114,172,187],"DSC":[115],"(Depthwise":[116],"Separable":[117],"Convolution)":[118],"Conv-LSTM":[120],"a":[122,145,150,188],"more":[123],"lightweight":[124,190],"less":[127],"computation,":[128],"considering":[129],"requirements":[131],"efficiency":[133],"Finally,":[136],"integrate":[138],"trained":[140],"ORB-SLAM2":[143],"modular":[146],"way":[147],"develop":[149],"prototype":[151],"system.":[152],"Extensive":[153],"experiments":[154],"public":[156],"(KITTI":[157],"EuRoC),":[159],"synthesized,":[160],"simulated":[162],"sequences":[163],"demonstrate":[164],"feasibility":[166],"superiority":[168],"our":[170,178],"method":[171],"high":[173],"accuracy":[174],"efficiency.":[176],"best":[179],"knowledge,":[180],"this":[181],"first":[184],"integrated":[186],"illumination.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
