{"id":"https://openalex.org/W7131099598","doi":"https://doi.org/10.1109/robio66223.2025.11377295","title":"LFPD-SLAM: Visual SLAM with Learning-Based Features and Pseudo-Depth","display_name":"LFPD-SLAM: Visual SLAM with Learning-Based Features and Pseudo-Depth","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131099598","doi":"https://doi.org/10.1109/robio66223.2025.11377295"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5126619871","display_name":"Xu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Lu","raw_affiliation_strings":["School of Computer Science, Guangdong Polytechnic Normal University,Guangzhou,China,510665"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Guangdong Polytechnic Normal University,Guangzhou,China,510665","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126626194","display_name":"Fujian Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fujian Yu","raw_affiliation_strings":["School of Computer Science, Guangdong Polytechnic Normal University,Guangzhou,China,510665"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Guangdong Polytechnic Normal University,Guangzhou,China,510665","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106670276","display_name":"Jianxing Liu","orcid":"https://orcid.org/0000-0002-2201-3887"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["School of Automation, Guangdong Polytechnic Normal University,Guangzhou,China,510665"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong Polytechnic Normal University,Guangzhou,China,510665","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126600863","display_name":"Jurong Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150595","display_name":"Guangzhou Electronic Technology (China)","ror":"https://ror.org/03rq35s79","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210150595"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jurong Chen","raw_affiliation_strings":["Guangzhou Saite Intelligent Technology Co., Ltd,Guangzhou,China,510000"],"affiliations":[{"raw_affiliation_string":"Guangzhou Saite Intelligent Technology Co., Ltd,Guangzhou,China,510000","institution_ids":["https://openalex.org/I4210150595","https://openalex.org/I4210153682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054163444","display_name":"Hanyuan Huang","orcid":"https://orcid.org/0000-0002-9805-7560"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanyuan Huang","raw_affiliation_strings":["Institute of Interdisciplinary Studies, Guangdong Polytechnic Normal University,Guangzhou,China,510665"],"affiliations":[{"raw_affiliation_string":"Institute of Interdisciplinary Studies, Guangdong Polytechnic Normal University,Guangzhou,China,510665","institution_ids":["https://openalex.org/I4210122543"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5126619871"],"corresponding_institution_ids":["https://openalex.org/I4210122543"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.82007217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"880","last_page":"886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8575000166893005,"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":0.8575000166893005,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.035100001841783524,"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":0.02630000002682209,"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":0.7253000140190125},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.715499997138977},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6040999889373779},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4661000072956085},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.459199994802475},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44359999895095825},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4262000024318695},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4138999879360199},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.4099999964237213}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8155999779701233},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7756999731063843},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7253000140190125},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.715499997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6766999959945679},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6040999889373779},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.459199994802475},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.4099999964237213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36880001425743103},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3598000109195709},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.35109999775886536},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2775000035762787},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C117978034","wikidata":"https://www.wikidata.org/wiki/Q5422192","display_name":"Extractor","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2574999928474426},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25690001249313354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1049819713","display_name":null,"funder_award_id":"2023B0303020001","funder_id":"https://openalex.org/F4320336405","funder_display_name":"Special Project for Research and Development in Key areas of Guangdong Province"},{"id":"https://openalex.org/G1322335178","display_name":null,"funder_award_id":"22GPNUZDJS14","funder_id":"https://openalex.org/F4320318653","funder_display_name":"Guangdong Polytechnic Normal University"},{"id":"https://openalex.org/G7209954570","display_name":null,"funder_award_id":"2025YFE0103200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8475656291","display_name":null,"funder_award_id":"62176067","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320318653","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320336405","display_name":"Special Project for Research and Development in Key areas of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2963748588","https://openalex.org/W2985775862","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3131673036","https://openalex.org/W4226099077","https://openalex.org/W4226257586","https://openalex.org/W4226327245","https://openalex.org/W4317382672","https://openalex.org/W4390099918","https://openalex.org/W4390872507","https://openalex.org/W4405786297","https://openalex.org/W4408199524","https://openalex.org/W4408235740","https://openalex.org/W4408609432","https://openalex.org/W4408715968"],"related_works":[],"abstract_inverted_index":{"The":[0],"simultaneous":[1],"localization":[2],"and":[3,17,30,50,64,83,93,132,148,166,188,208],"mapping":[4],"(SLAM)":[5],"technology":[6],"is":[7,140,197,211],"usually":[8],"applied":[9],"by":[10,214],"autonomous":[11],"robots":[12],"to":[13,106,128,142,217],"record":[14],"moving":[15],"trajectories":[16],"perceive":[18],"real-world":[19],"space.":[20],"Monocular":[21],"visual":[22,154],"SLAM":[23,78,155,160],"can":[24,162,203],"effectively":[25],"balance":[26],"low":[27],"computational":[28],"cost":[29],"satisfactory":[31],"performance.":[32],"However,":[33],"traditional":[34],"technologies,":[35],"employing":[36],"handcrafted":[37,104],"feature":[38,95,146],"extractors,":[39],"are":[40],"often":[41],"ineffective":[42],"in":[43,61,111],"challenging":[44,199],"outdoor":[45,113],"environments":[46],"with":[47,80,102],"suboptimal":[48],"illumination":[49],"low-texture":[51],"regions.":[52],"Additionally,":[53],"monocular":[54,153],"cameras":[55],"lack":[56],"direct":[57],"depth":[58,126,149],"information,":[59],"resulting":[60],"scale":[62,130],"ambiguity":[63],"tracking":[65,134,165],"instability,":[66],"especially":[67],"under":[68],"rapid":[69],"motion.":[70],"To":[71],"meet":[72],"this":[73],"gap,":[74],"we":[75,88,116],"propose":[76],"a":[77,91,152],"system":[79,161],"learning-based":[81,92,99],"features":[82,110],"pseudo-depth,":[84],"coined":[85],"LFPDSLAM.":[86],"Specifically,":[87],"first":[89],"design":[90],"handcraft":[94],"extractor,":[96],"which":[97,196],"combines":[98],"keypoints":[100],"detection":[101],"efficient":[103],"descriptors,":[105],"obtain":[107],"robust":[108,164,206],"image":[109,122],"complicated":[112],"environments.":[114],"Second,":[115],"predict":[117],"the":[118,121,145,158,173,178,182,192],"pseudo-depth":[119],"of":[120],"that":[123,177],"provide":[124],"auxiliary":[125],"information":[127],"alleviate":[129],"drift":[131],"reduce":[133],"deviations.":[135],"Third,":[136],"an":[137],"integration":[138],"mechanism":[139],"developed":[141],"jointly":[143],"incorporate":[144],"extractor":[147],"predictor":[150],"into":[151],"system.":[156],"Last,":[157],"presented":[159],"achieve":[163],"accurate":[167],"location.":[168],"Extensive":[169],"experiments":[170],"conducted":[171],"on":[172,191],"KITTI":[174,193],"dataset":[175],"demonstrate":[176],"LFPD-SLAM":[179,202],"significantly":[180,212],"outperforms":[181],"state-of-the-art":[183],"studies,":[184],"including":[185],"ORB-SLAM3":[186],"(OS3)":[187],"LFF-SLAM.":[189],"Especially":[190],"01":[194],"sequence,":[195],"highly":[198],"for":[200],"OS3,":[201],"still":[204],"maintain":[205],"tracking,":[207],"its":[209],"ATE":[210],"improved":[213],"89.38%":[215],"compared":[216],"OS3.":[218]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-02-24T00:00:00"}