{"id":"https://openalex.org/W3214551689","doi":"https://doi.org/10.1109/tim.2021.3116288","title":"PairCon-SLAM: Distributed, Online, and Real-Time RGBD-SLAM in Large Scenarios","display_name":"PairCon-SLAM: Distributed, Online, and Real-Time RGBD-SLAM in Large Scenarios","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3214551689","doi":"https://doi.org/10.1109/tim.2021.3116288","mag":"3214551689"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3116288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3116288","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5103113902","display_name":"Donglin Zhu","orcid":"https://orcid.org/0000-0003-2568-0412"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglin Zhu","raw_affiliation_strings":["School of Communications Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"raw_orcid":"https://orcid.org/0000-0003-2568-0412","affiliations":[{"raw_affiliation_string":"School of Communications Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101552980","display_name":"Guanghui Xu","orcid":"https://orcid.org/0000-0003-2910-9870"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Xu","raw_affiliation_strings":["School of Communications Engineering, Army Engineering University of PLA, Nanjing, 210007, China. (e-mail: xugh_xs@163.com)"],"raw_orcid":"https://orcid.org/0000-0003-2910-9870","affiliations":[{"raw_affiliation_string":"School of Communications Engineering, Army Engineering University of PLA, Nanjing, 210007, China. (e-mail: xugh_xs@163.com)","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103187480","display_name":"Xiaoting Wang","orcid":"https://orcid.org/0000-0002-0402-3811"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoting Wang","raw_affiliation_strings":["State Key Laboratory of Estuarine and Coastal Research, East China Normal University, Shanghai 200241, China"],"raw_orcid":"https://orcid.org/0000-0002-0402-3811","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Estuarine and Coastal Research, East China Normal University, Shanghai 200241, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102942068","display_name":"Liu Xiao-gang","orcid":"https://orcid.org/0000-0002-4253-1382"},"institutions":[{"id":"https://openalex.org/I2722730","display_name":"Inner Mongolia University","ror":"https://ror.org/0106qb496","country_code":"CN","type":"education","lineage":["https://openalex.org/I2722730"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Liu","raw_affiliation_strings":["School of Electronic Information Engineering, Inner Mongolia University, Hohhot 010021, China"],"raw_orcid":"https://orcid.org/0000-0002-4253-1382","affiliations":[{"raw_affiliation_string":"School of Electronic Information Engineering, Inner Mongolia University, Hohhot 010021, China","institution_ids":["https://openalex.org/I2722730"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079321949","display_name":"Dewei Tian","orcid":"https://orcid.org/0000-0001-5365-6044"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dewei Tian","raw_affiliation_strings":["School of Eletronic and Optical Engineering, Nanjing University of Posts And Telecommunications, Nanjing 210023, China"],"raw_orcid":"https://orcid.org/0000-0001-5365-6044","affiliations":[{"raw_affiliation_string":"School of Eletronic and Optical Engineering, Nanjing University of Posts And Telecommunications, Nanjing 210023, China","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.6084,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97390119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"14"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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":0.8052341938018799},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.6721093654632568},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5772365927696228},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.5206764936447144},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5074464678764343},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4979674816131592},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.44146913290023804},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4245259165763855},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.41264063119888306},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41062358021736145},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37855759263038635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36979612708091736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24281194806098938},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10931044816970825}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8052341938018799},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.6721093654632568},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5772365927696228},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.5206764936447144},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5074464678764343},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4979674816131592},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.44146913290023804},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4245259165763855},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.41264063119888306},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41062358021736145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37855759263038635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36979612708091736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24281194806098938},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10931044816970825},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3116288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3116288","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4961109187","display_name":"\u975e\u5747\u5300\u5bc6\u96c6\u5f02\u6784\u65e0\u7ebf\u7f51\u7edc\u7269\u7406\u5c42\u5b89\u5168\u901a\u4fe1\u7406\u8bba\u4e0e\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61971474","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G711334231","display_name":null,"funder_award_id":"2019T120071","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8474346512","display_name":null,"funder_award_id":"51507188","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/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1716229439","https://openalex.org/W1965950920","https://openalex.org/W1970504153","https://openalex.org/W1977770895","https://openalex.org/W1984309565","https://openalex.org/W1996388494","https://openalex.org/W2005216741","https://openalex.org/W2021851106","https://openalex.org/W2047598977","https://openalex.org/W2061550883","https://openalex.org/W2073660060","https://openalex.org/W2115499947","https://openalex.org/W2131846894","https://openalex.org/W2147238549","https://openalex.org/W2154422147","https://openalex.org/W2250172176","https://openalex.org/W2325875371","https://openalex.org/W2396274919","https://openalex.org/W2419416064","https://openalex.org/W2518174573","https://openalex.org/W2615547864","https://openalex.org/W2769441038","https://openalex.org/W2776004874","https://openalex.org/W2785901219","https://openalex.org/W2791072102","https://openalex.org/W2884962765","https://openalex.org/W2905544027","https://openalex.org/W2907749395","https://openalex.org/W2963200201","https://openalex.org/W2964349441","https://openalex.org/W2969608721","https://openalex.org/W3003437478","https://openalex.org/W3003969311","https://openalex.org/W3004324880","https://openalex.org/W3012138391","https://openalex.org/W3016217770","https://openalex.org/W3036052146","https://openalex.org/W3048491269","https://openalex.org/W3083035629","https://openalex.org/W3102617634","https://openalex.org/W3110870077","https://openalex.org/W3111666733","https://openalex.org/W3141641149","https://openalex.org/W6637636807","https://openalex.org/W6665854086"],"related_works":["https://openalex.org/W4323767814","https://openalex.org/W4387698348","https://openalex.org/W1964715412","https://openalex.org/W2536504876","https://openalex.org/W2989564752","https://openalex.org/W3163880895","https://openalex.org/W2984070345","https://openalex.org/W3001939774","https://openalex.org/W3161876898","https://openalex.org/W2107582550"],"abstract_inverted_index":{"This":[0,28],"paper":[1],"proposed":[2],"a":[3,37,59,84,92,107],"PairCon-SLAM":[4],"algorithm":[5,138,169],"to":[6,39,110,114,124,143,172,229],"construct":[7,111,216],"dense":[8],"maps":[9,53,81,112,186,217],"of":[10,51,75,102,128,148,176,185,190,211,223,233],"large-scale":[11],"scenarios":[12],"in":[13,19,36,57,83,150],"real":[14],"time,":[15],"which":[16,97,154,226],"is":[17,95,170,227],"operated":[18],"an":[20],"integral":[21],"platform":[22,29],"containing":[23],"two":[24],"personal":[25],"computers":[26],"(PCs).":[27],"can":[30,54],"operate":[31],"the":[32,41,48,68,73,87,99,116,121,126,136,140,145,151,156,161,164,174,180,183,188,197,208,220,231,234],"mapping":[33],"thread":[34],"independently":[35,113],"PC":[38,94,109],"guarantee":[40],"sufficient":[42],"memory":[43,88,165],"resources.":[44],"In":[45,61,159,179],"this":[46],"context,":[47],"synchronous":[49],"visualization":[50],"3D":[52,80],"be":[55],"achieved":[56],"such":[58,199],"platform.":[60],"contrast,":[62],"traditional":[63],"algorithms":[64],"are":[65,192],"limited":[66],"by":[67,91,194],"short":[69],"operation":[70],"distance,":[71],"under":[72,207],"requirement":[74],"simultaneous":[76],"data":[77,129,222],"collection":[78],"and":[79,119,167,187,196,203,213],"construction":[82],"PC.":[85],"Also,":[86],"resource":[89],"provided":[90],"single":[93],"limited,":[96],"restricts":[98],"constructing":[100],"scale":[101],"maps.":[103],"Thus,":[104],"we":[105,134,215],"use":[106],"separate":[108],"relieve":[115],"distance":[117],"constraint,":[118],"exploit":[120],"socket":[122],"method":[123,142,162],"conduct":[125],"transmission":[127],"with":[130],"point":[131],"cloud.":[132],"Meanwhile,":[133],"introduce":[135],"ReBlur":[137],"into":[139],"semidirect":[141],"reduce":[144],"error":[146],"accumulation":[147],"odometer":[149,191],"tracking":[152],"thread,":[153],"improves":[155],"robustness":[157],"performance.":[158],"addition,":[160],"combining":[163],"management":[166],"DBow2":[168],"adopted":[171],"improve":[173],"accuracy":[175],"loop":[177],"detection.":[178],"considered":[181],"system,":[182],"quality":[184,232],"performance":[189],"evaluated":[193],"ICL-NUIM":[195],"datasets,":[198],"as":[200],"TUM,":[201],"DIODE":[202],"etc.,":[204],"respectively.":[205],"Finally,":[206],"simulation":[209],"environment":[210],"AirSim":[212],"Gazebo,":[214],"based":[218],"on":[219],"image":[221],"other":[224],"scenarios,":[225],"used":[228],"show":[230],"construction.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}