{"id":"https://openalex.org/W2775093510","doi":"https://doi.org/10.1109/smc.2017.8122816","title":"Vehicle model based visual-tag monocular ORB-SLAM","display_name":"Vehicle model based visual-tag monocular ORB-SLAM","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2775093510","doi":"https://doi.org/10.1109/smc.2017.8122816","mag":"2775093510"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2017.8122816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5053743957","display_name":"Wenhao Zong","orcid":"https://orcid.org/0000-0002-8126-3552"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhao Zong","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012728745","display_name":"Longquan Chen","orcid":"https://orcid.org/0000-0002-6785-5914"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longquan Chen","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010117485","display_name":"Changzhu Zhang","orcid":"https://orcid.org/0000-0001-7244-7280"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changzhu Zhang","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040673729","display_name":"Zhuping Wang","orcid":"https://orcid.org/0000-0002-0334-4082"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuping Wang","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1441","last_page":"1446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10888","display_name":"Augmented Reality Applications","score":0.9926999807357788,"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/orb","display_name":"Orb (optics)","score":0.8442900776863098},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.700894832611084},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6119482517242432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5826835036277771},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5685549974441528},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.507784903049469},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1216340959072113},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11208519339561462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0788533091545105}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8442900776863098},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700894832611084},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6119482517242432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5826835036277771},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5685549974441528},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.507784903049469},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1216340959072113},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11208519339561462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0788533091545105}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2017.8122816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1991544872","https://openalex.org/W2003749045","https://openalex.org/W2033819227","https://openalex.org/W2071204359","https://openalex.org/W2096901547","https://openalex.org/W2108134361","https://openalex.org/W2124123377","https://openalex.org/W2124313187","https://openalex.org/W2125188427","https://openalex.org/W2133759223","https://openalex.org/W2143220699","https://openalex.org/W2143864104","https://openalex.org/W2148487973","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2153054365","https://openalex.org/W2162536300","https://openalex.org/W2538522345","https://openalex.org/W3103648783","https://openalex.org/W6678941962"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W3192389065","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367"],"abstract_inverted_index":{"Monocular":[0],"ORB-SLAM":[1],"has":[2],"been":[3],"proved":[4],"to":[5,50,87,133,140,144],"be":[6,99],"one":[7],"of":[8,54,151],"the":[9,52,93,118,152,162],"best":[10],"open-source":[11],"SLAM":[12],"method.":[13],"However,":[14],"it":[15],"is":[16,26,59,121,131,159],"still":[17],"unsatisfying":[18],"especially":[19],"in":[20,64,165],"low":[21],"illumination":[22],"indoor":[23],"environment,":[24],"which":[25,146],"caused":[27],"by":[28,48,76,101],"scale":[29],"recovery":[30],"and":[31,66,71,142],"wrong":[32],"feature":[33,96],"matching.":[34],"In":[35,108],"this":[36,75],"paper,":[37],"we":[38],"proposed":[39],"a":[40,78,127,156,166],"vehicle":[41,79,111,153],"model":[42,80,112],"based":[43,81],"monocular":[44],"ORBSLAM":[45],"method":[46,83],"supplemented":[47],"April-Tag":[49,85],"improve":[51],"performance":[53],"original":[55],"algorithm.":[56],"This":[57],"approach":[58],"practical":[60],"when":[61],"autonomous":[62],"driving":[63],"low-light":[65],"less-feature":[67],"environment":[68],"like":[69],"garages":[70],"tunnels.":[72],"We":[73],"achieve":[74],"proposing":[77],"initialization":[82],"fusing":[84],"measurement":[86],"recover":[88],"scale.":[89],"During":[90],"tracking":[91],"procedure,":[92],"outliers":[94],"ORB":[95],"points":[97],"will":[98,147],"removed":[100],"checking":[102],"reprojection":[103],"error":[104,150],"calculated":[105],"from":[106,123,138,161],"April-Tag.":[107],"addition,":[109],"considering":[110],"can":[113],"only":[114],"obtain":[115],"2D":[116],"motion,":[117],"vertical":[119],"transition":[120],"estimated":[122],"camera":[124,135],"model.":[125,154],"Afterwards,":[126],"local":[128],"Bundle":[129],"Adjustment(BA)":[130],"applied":[132],"optimize":[134],"pose":[136],"both":[137],"frame":[139,141,143],"keyframe":[145],"reduce":[148],"accumulative":[149],"Finally,":[155],"convincing":[157],"result":[158],"obtained":[160],"testing":[163],"drive":[164],"garage.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
