{"id":"https://openalex.org/W4317383295","doi":"https://doi.org/10.1109/robio55434.2022.10011968","title":"Data Driven Optical Flow Prediction for Improving Direct Method Visual SLAM Systems","display_name":"Data Driven Optical Flow Prediction for Improving Direct Method Visual SLAM Systems","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383295","doi":"https://doi.org/10.1109/robio55434.2022.10011968"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011968","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011968","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/A5073689897","display_name":"Bingqing Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingqing Selina Wan","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Guangdong University of Technology,Guangzhou,China","Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719321","display_name":"Li He","orcid":"https://orcid.org/0000-0003-0261-4068"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li He","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430266","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electrical and Computer Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073689897"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.8332,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73323794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1017","last_page":"1022"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9986000061035156,"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":0.8435997366905212},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.727684736251831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7118417024612427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6489957571029663},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5958873629570007},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5827373266220093},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5192278027534485},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5014655590057373},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4506630003452301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2873430848121643},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2720842659473419},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14325934648513794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8435997366905212},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.727684736251831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7118417024612427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6489957571029663},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5958873629570007},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5827373266220093},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5192278027534485},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5014655590057373},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4506630003452301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2873430848121643},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2720842659473419},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14325934648513794},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011968","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011968","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W95608104","https://openalex.org/W764651262","https://openalex.org/W1518680072","https://openalex.org/W1552672384","https://openalex.org/W2003919215","https://openalex.org/W2059991351","https://openalex.org/W2063053370","https://openalex.org/W2073968412","https://openalex.org/W2108394383","https://openalex.org/W2113483546","https://openalex.org/W2121013842","https://openalex.org/W2127824950","https://openalex.org/W2147253850","https://openalex.org/W2150066425","https://openalex.org/W2154734240","https://openalex.org/W2198391854","https://openalex.org/W2213420319","https://openalex.org/W2259424905","https://openalex.org/W2278591674","https://openalex.org/W2474281075","https://openalex.org/W2612774882","https://openalex.org/W2737357060","https://openalex.org/W2803770871","https://openalex.org/W2884962765","https://openalex.org/W2906636743","https://openalex.org/W3012560676","https://openalex.org/W3043971245","https://openalex.org/W3127140219","https://openalex.org/W3130443363","https://openalex.org/W3206741876","https://openalex.org/W4206261585","https://openalex.org/W4312884429","https://openalex.org/W6764350350"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W2084856301","https://openalex.org/W2127970246","https://openalex.org/W2885125400","https://openalex.org/W1989889224","https://openalex.org/W4382618745","https://openalex.org/W1973775000","https://openalex.org/W2748922771","https://openalex.org/W1987128138","https://openalex.org/W2743976221"],"abstract_inverted_index":{"Direct":[0],"and":[1,8,39,158],"keyframe":[2],"based":[3,67],"visual":[4],"SLAM":[5,70],"(simulta-neous":[6],"localization":[7],"mapping)":[9],"such":[10,44],"as":[11],"LDSO":[12,141],"is":[13,28,78],"widely":[14],"used":[15,30],"in":[16,58,63],"robotic":[17,83],"systems.":[18,71,84],"In":[19],"the":[20,23,32,99,105,109,126,132,136,140,145,149,153,164,173,178,189],"direct":[21,24,110],"method,":[22],"point":[25,121],"projection":[26],"method":[27,113,123,138,166,175],"usually":[29],"on":[31,139],"selected":[33,156,181],"pixel":[34,127],"points":[35],"to":[36,52,65,81,91,97,167,188],"predict":[37,98],"motion":[38,55],"perform":[40],"frame-to-frame":[41],"tracking.":[42],"However,":[43],"systems":[45],"require":[46],"a":[47,59,79,93,115,120,185],"large":[48,75],"number":[49,154,179],"of":[50,74,155,180],"keyframes":[51,182],"maintain":[53],"stable":[54],"tracking,":[56],"resulting":[57],"larger":[60],"map":[61,76,129],"size":[62],"comparison":[64],"feature":[66],"or":[68],"indirect":[69],"The":[72,169],"maintenance":[73],"data":[77],"bottleneck":[80],"long-track":[82],"To":[85],"address":[86],"this":[87],"problem,":[88],"we":[89,162],"propose":[90],"use":[92],"machine":[94],"learning":[95,106],"model":[96,107],"optical":[100],"flow.":[101],"An":[102],"indicator":[103],"activates":[104],"when":[108],"image":[111],"alignment":[112],"has":[114],"bad":[116],"performance.":[117],"We":[118,134,143],"design":[119],"selection":[122],"that":[124,172],"uses":[125],"flow":[128],"predicted":[130],"by":[131,148],"model.":[133],"implement":[135],"proposed":[137,165,174],"system.":[142],"evaluate":[144],"system":[146],"performance":[147,187],"absolute":[150],"pose":[151],"error,":[152],"keyframes,":[157],"time":[159],"consumption.":[160],"Then":[161],"verify":[163],"ORB-SLAM3.":[168],"results":[170],"show":[171],"can":[176],"reduce":[177],"while":[183],"producing":[184],"comparable":[186],"state-of-the-art.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
