{"id":"https://openalex.org/W2978755412","doi":"https://doi.org/10.1109/tase.2019.2940543","title":"Robust Visual Localization in Dynamic Environments Based on Sparse Motion Removal","display_name":"Robust Visual Localization in Dynamic Environments Based on Sparse Motion Removal","publication_year":2019,"publication_date":"2019-10-02","ids":{"openalex":"https://openalex.org/W2978755412","doi":"https://doi.org/10.1109/tase.2019.2940543","mag":"2978755412"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2940543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2940543","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jiyu Cheng","raw_affiliation_strings":["Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Robotics, Perception, and AI Laboratory, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015250843"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":42.358,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.99536772,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"17","issue":"2","first_page":"658","last_page":"669"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9970999956130981,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7612768411636353},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7442415952682495},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7040627598762512},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774333715438843},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6490874290466309},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5704245567321777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5284742116928101},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5130254626274109},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4966352581977844},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4407748281955719},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4317156672477722},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4172575771808624}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7612768411636353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7442415952682495},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7040627598762512},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774333715438843},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6490874290466309},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5704245567321777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5284742116928101},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5130254626274109},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4966352581977844},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4407748281955719},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4317156672477722},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4172575771808624},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2019.2940543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2940543","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G2231657893","display_name":null,"funder_award_id":"ITS/105/18FP","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320321920","display_name":"Innovation and Technology Commission","ror":"https://ror.org/04vf9tr09"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1966906328","https://openalex.org/W1971683313","https://openalex.org/W2000018820","https://openalex.org/W2020310389","https://openalex.org/W2021851106","https://openalex.org/W2065693146","https://openalex.org/W2068763856","https://openalex.org/W2076917298","https://openalex.org/W2091790851","https://openalex.org/W2110405746","https://openalex.org/W2121985953","https://openalex.org/W2124313187","https://openalex.org/W2216550548","https://openalex.org/W2248805773","https://openalex.org/W2284029970","https://openalex.org/W2406856744","https://openalex.org/W2411412724","https://openalex.org/W2527408187","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2735010494","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2890213701","https://openalex.org/W2898182017","https://openalex.org/W2938672559","https://openalex.org/W2942228371","https://openalex.org/W2963656298","https://openalex.org/W3098467253","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106458387","https://openalex.org/W4246614213","https://openalex.org/W6668041581","https://openalex.org/W6714265288"],"related_works":["https://openalex.org/W1750372561","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W1501082329","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344"],"abstract_inverted_index":{"Visual":[0,199],"localization":[1,53,142,182,194,200,255,322],"has":[2],"been":[3],"well":[4,202],"studied":[5],"in":[6,11,18,183,196,204,324],"recent":[7],"decades":[8],"and":[9,83,101,108,143,158,163,178,212,286,304,327],"applied":[10,203],"many":[12,205],"fields":[13,207],"as":[14,209,214],"a":[15,56,72,92,138,219,239,277,290,307],"fundamental":[16],"capability":[17,217],"robotics.":[19],"However,":[20],"the":[21,24,27,32,35,47,50,60,63,81,98,102,105,109,117,121,126,132,153,164,170,176,192,215,223,234,245,248,254,259,279,299,321,329],"success":[22],"of":[23,26,49,62,247],"state":[25],"arts":[28],"usually":[29],"builds":[30],"on":[31,91,238],"assumption":[33],"that":[34,79,169],"environment":[36,236],"is":[37,124,201,269],"static.":[38],"In":[39,222,242,263],"dynamic":[40,64,82,127,184,197,285,294,325],"scenarios":[41],"where":[42],"moving":[43,249],"objects":[44,250],"are":[45,112,129,135,161,296,302],"present,":[46],"performance":[48],"existing":[51],"visual":[52,140,149,181,193,240,309,314],"systems":[54],"degrades":[55],"lot":[57],"due":[58],"to":[59,115,186,229,271],"disturbance":[61],"factors.":[65],"To":[66,151],"address":[67],"this":[68,264,273],"problem,":[69],"we":[70],"propose":[71],"novel":[73],"sparse":[74],"motion":[75],"removal":[76],"(SMR)":[77],"model":[78,172,268,281],"detects":[80],"static":[84,133,287,300],"regions":[85,128,288,295],"for":[86,147,180,218,312,331],"an":[87,266],"input":[88],"frame":[89,107,111],"based":[90,237],"Bayesian":[93,291],"framework.":[94,292],"The":[95,293,316],"similarity":[96],"between":[97,104],"consecutive":[99],"frames":[100],"difference":[103],"current":[106],"reference":[110],"both":[113,156],"considered":[114],"reduce":[116],"detection":[118,122],"uncertainty.":[119],"After":[120],"process":[123],"finished,":[125],"eliminated":[130],"while":[131,298],"ones":[134,301],"fed":[136,305],"into":[137,284,306],"feature-based":[139,308],"simultaneous":[141],"mapping":[144],"(SLAM)":[145],"system":[146,311],"further":[148,313],"localization.":[150,315],"verify":[152],"proposed":[154,171,280,317],"method,":[155],"qualitative":[157],"quantitative":[159],"experiments":[160],"performed":[162],"experimental":[165],"results":[166],"have":[167],"demonstrated":[168],"can":[173],"significantly":[174,252],"improve":[175],"accuracy":[177,323],"robustness":[179,330],"environments.<;/p><;p><;i>Note":[185],"Practitioners<;/i>-This":[187],"article":[188],"was":[189],"motivated":[190],"by":[191],"problem":[195],"environments.":[198],"robotic":[206,332],"such":[208],"path":[210],"planning":[211],"exploration":[213],"basic":[216],"mobile":[220],"robot.":[221],"GPS-denied":[224],"environments,":[225],"one":[226],"robot":[227,260],"needs":[228],"localize":[230],"itself":[231],"through":[232,289],"perceiving":[233],"unknown":[235],"sensor.":[241],"real-world":[243],"scenes,":[244],"existence":[246],"will":[251],"degrade":[253],"accuracy,":[256],"which":[257],"makes":[258],"implementation":[261],"unreliable.":[262],"article,":[265],"SMR":[267],"designed":[270],"handle":[272],"problem.":[274],"Once":[275],"receiving":[276],"frame,":[278],"divides":[282],"it":[283],"eliminated,":[297],"maintained":[303],"SLAM":[310],"method":[318],"greatly":[319],"improves":[320],"environments":[326],"guarantees":[328],"implementation.":[333]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
