{"id":"https://openalex.org/W4416078074","doi":"https://doi.org/10.1109/taes.2025.3630568","title":"POPL-SLAM: A Pose-Only Representation-Based Visual-Inertial SLAM With Point and Structural Line Features","display_name":"POPL-SLAM: A Pose-Only Representation-Based Visual-Inertial SLAM With Point and Structural Line Features","publication_year":2025,"publication_date":"2025-11-10","ids":{"openalex":"https://openalex.org/W4416078074","doi":"https://doi.org/10.1109/taes.2025.3630568"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2025.3630568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3630568","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5001830307","display_name":"Tuan Li","orcid":"https://orcid.org/0000-0003-3125-9077"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tuan Li","raw_affiliation_strings":["School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China","Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bing Han","orcid":"https://orcid.org/0009-0007-2858-5150"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Han","raw_affiliation_strings":["School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China","Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059726642","display_name":"Dayu Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I105126617","display_name":"Zhejiang International Studies University","ror":"https://ror.org/01vwvvq12","country_code":"CN","type":"education","lineage":["https://openalex.org/I105126617"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dayu Yan","raw_affiliation_strings":["Hangzhou International Innovation Institute, Beihang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Hangzhou International Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I105126617","https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-4158-0913"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong","Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhipeng Wang","orcid":"https://orcid.org/0000-0002-1002-7069"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Wang","raw_affiliation_strings":["School of Electronic Information Engineering, Beihang University, Beijing, China","Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chuang Shi","orcid":"https://orcid.org/0000-0002-1600-9160"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Shi","raw_affiliation_strings":["School of Space and Earth Sciences, Beihang University, Beijing, China","Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Space and Earth Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001830307"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41501031,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"62","issue":null,"first_page":"1509","last_page":"1525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922999739646912,"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":0.9922999739646912,"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":0.0024999999441206455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0010000000474974513,"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/leverage","display_name":"Leverage (statistics)","score":0.717199981212616},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6274999976158142},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5651999711990356},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5069000124931335},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4702000021934509},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.44020000100135803},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.4253999888896942},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.40779998898506165},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.3919999897480011},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.37790000438690186}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.717199981212616},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6274999976158142},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5651999711990356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260999798774719},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5069000124931335},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4828999936580658},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.44020000100135803},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.4253999888896942},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.40779998898506165},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3880999982357025},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.37790000438690186},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3612000048160553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35249999165534973},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.33160001039505005},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30660000443458557},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2572999894618988},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2572000026702881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3630568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3630568","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7285447361","display_name":null,"funder_award_id":"4254104","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G8979577058","display_name":null,"funder_award_id":"U2341213","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1643815198","https://openalex.org/W1974880733","https://openalex.org/W2008849352","https://openalex.org/W2021278996","https://openalex.org/W2043630212","https://openalex.org/W2057488855","https://openalex.org/W2081501943","https://openalex.org/W2095905764","https://openalex.org/W2117228865","https://openalex.org/W2121308169","https://openalex.org/W2134778138","https://openalex.org/W2156953558","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2612364357","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2797395780","https://openalex.org/W2897875218","https://openalex.org/W2913367517","https://openalex.org/W2917141083","https://openalex.org/W2963200201","https://openalex.org/W2968125992","https://openalex.org/W3035228270","https://openalex.org/W3041143809","https://openalex.org/W3043971245","https://openalex.org/W3175237403","https://openalex.org/W3181825824","https://openalex.org/W3183724013","https://openalex.org/W3196045958","https://openalex.org/W3199972047","https://openalex.org/W3209038786","https://openalex.org/W4214820331","https://openalex.org/W4225773456","https://openalex.org/W4226391002","https://openalex.org/W4285102352","https://openalex.org/W4313150053","https://openalex.org/W4313593415","https://openalex.org/W4321483923","https://openalex.org/W4376456689","https://openalex.org/W4386703062","https://openalex.org/W4388469655","https://openalex.org/W4390874620","https://openalex.org/W4391892470","https://openalex.org/W4392693641","https://openalex.org/W4392843994","https://openalex.org/W4393853214","https://openalex.org/W4399923568","https://openalex.org/W4401163739","https://openalex.org/W4405342337","https://openalex.org/W4406094300","https://openalex.org/W4407476939","https://openalex.org/W4408017428"],"related_works":[],"abstract_inverted_index":{"The":[0],"geometric":[1,21],"regularity":[2],"of":[3,45],"man-made":[4],"structures":[5],"imposes":[6],"distinct":[7],"constraints":[8,36],"on":[9,37,145],"Visual-Inertial":[10],"Simultaneous":[11],"Localization":[12],"and":[13,26,61,107,119,132,140,160],"Mapping":[14],"(VI-SLAM)":[15],"systems.":[16],"To":[17,40],"effectively":[18],"leverage":[19],"this":[20,84],"information,":[22],"we":[23,48,65,94,128],"integrate":[24],"distance":[25,134],"angular":[27,133],"data":[28],"from":[29],"linear":[30],"structural":[31,62,125],"features":[32],"to":[33,57,109,136],"enforce":[34],"additional":[35],"point-based":[38],"VI-SLAM.":[39],"mitigate":[41],"the":[42],"computational":[43,122],"overhead":[44],"high-level":[46],"features,":[47,127],"propose":[49],"POPL-SLAM,":[50],"which":[51],"adopts":[52],"a":[53,67,80,96,100],"pose":[54],"only":[55],"approach":[56,113],"implicitly":[58,104],"model":[59],"points":[60,89,106],"lines.":[63],"First,":[64],"develop":[66],"progressive":[68],"vanishing":[69,88],"point":[70],"estimation":[71],"technique":[72,85],"lever":[73],"aging":[74],"IMU":[75],"preintegration":[76],"priors.":[77],"By":[78],"formulating":[79],"non-orthogonal":[81],"constraint":[82],"optimization,":[83],"efficiently":[86],"estimates":[87],"without":[90],"per-frame":[91],"recalculations.":[92],"Second,":[93],"introduce":[95],"pose-only":[97],"framework":[98],"for":[99],"point-line":[101,154],"SLAM":[102],"system,":[103],"modeling":[105],"lines":[108],"formulate":[110],"constraints.":[111],"This":[112],"eliminates":[114],"linearization":[115],"errors":[116,135],"during":[117],"optimization":[118],"markedly":[120],"improves":[121],"efficiency.":[123],"For":[124],"line":[126],"concurrently":[129],"incorporate":[130],"Euclidean":[131],"comprehensively":[137],"capture":[138],"positional":[139],"orientational":[141],"information.":[142],"Extensive":[143],"experiments":[144],"public":[146],"real-world":[147],"datasets":[148],"demonstrate":[149],"that":[150],"POPL-SLAM":[151],"outperforms":[152],"state-of-the-art":[153],"VI-SLAM":[155],"systems":[156],"in":[157],"accuracy,":[158],"efficiency,":[159],"robustness.":[161]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-10T00:00:00"}