{"id":"https://openalex.org/W4319865644","doi":"https://doi.org/10.1109/tim.2023.3240206","title":"Semi-Direct Multimap SLAM System for Real-Time Sparse 3-D Map Reconstruction","display_name":"Semi-Direct Multimap SLAM System for Real-Time Sparse 3-D Map Reconstruction","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4319865644","doi":"https://doi.org/10.1109/tim.2023.3240206"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3240206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3240206","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/A5070218301","display_name":"Hongyu Xie","orcid":"https://orcid.org/0000-0003-0750-3762"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongyu Xie","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074783923","display_name":"Dong Zhang","orcid":"https://orcid.org/0000-0003-0090-9006"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Zhang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384719","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0002-3686-9272"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081318069","display_name":"MengChu Zhou","orcid":"https://orcid.org/0000-0002-5408-8752"},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]},{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["SA","US"],"is_corresponding":false,"raw_author_name":"MengChu Zhou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA","Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA","institution_ids":["https://openalex.org/I118118575"]},{"raw_affiliation_string":"Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079155612","display_name":"Zhengcai Cao","orcid":"https://orcid.org/0000-0003-0344-0207"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengcai Cao","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085124437","display_name":"Xiaobo Hu","orcid":"https://orcid.org/0000-0002-5877-0898"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobo Hu","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071962721","display_name":"Abdullah Abusorrah","orcid":"https://orcid.org/0000-0001-8025-0453"},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Abdullah Abusorrah","raw_affiliation_strings":["Department of Electrical and Computer Engineering, K. A. CARE Energy Research and Innovation Center, and the Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, K. A. CARE Energy Research and Innovation Center, and the Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5070218301"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":18.5617,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98973135,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"13"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9965999722480774,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.996399998664856,"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":0.845187246799469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8244481086730957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7575436234474182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7010309100151062},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6408988237380981},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5017077922821045},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4650956392288208},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.43970787525177},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.428253710269928},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4125666618347168},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.25842705368995667},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20874512195587158},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17660486698150635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14703339338302612}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.845187246799469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8244481086730957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7575436234474182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7010309100151062},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6408988237380981},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5017077922821045},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4650956392288208},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.43970787525177},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.428253710269928},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4125666618347168},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25842705368995667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20874512195587158},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17660486698150635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14703339338302612},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3240206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3240206","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":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G1309666564","display_name":null,"funder_award_id":"92148202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1347567300","display_name":null,"funder_award_id":"2020YFB1313300","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3418878103","display_name":null,"funder_award_id":"L223019","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G36332496","display_name":null,"funder_award_id":"52175002","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},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1974880733","https://openalex.org/W1989484209","https://openalex.org/W2008849352","https://openalex.org/W2013503831","https://openalex.org/W2021851106","https://openalex.org/W2117228865","https://openalex.org/W2124313187","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2160072137","https://openalex.org/W2162161345","https://openalex.org/W2396274919","https://openalex.org/W2411918187","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2565472677","https://openalex.org/W2611940445","https://openalex.org/W2738596250","https://openalex.org/W2801117803","https://openalex.org/W2884188043","https://openalex.org/W2903355354","https://openalex.org/W2906636743","https://openalex.org/W2917141083","https://openalex.org/W2937713253","https://openalex.org/W2953809838","https://openalex.org/W2971193004","https://openalex.org/W3024046433","https://openalex.org/W3043971245","https://openalex.org/W3092045196","https://openalex.org/W3095688743","https://openalex.org/W3096949215","https://openalex.org/W3099913005","https://openalex.org/W3102663996","https://openalex.org/W3103648783","https://openalex.org/W3105115875","https://openalex.org/W3124420883","https://openalex.org/W3129245057","https://openalex.org/W3132087600","https://openalex.org/W3143735381","https://openalex.org/W3144387230","https://openalex.org/W3148176530","https://openalex.org/W3162077613","https://openalex.org/W3165610079","https://openalex.org/W3167259153","https://openalex.org/W3176892919","https://openalex.org/W3183724013","https://openalex.org/W3186564193","https://openalex.org/W3204117507","https://openalex.org/W3209131888","https://openalex.org/W4205956105","https://openalex.org/W4210580326","https://openalex.org/W4210799407","https://openalex.org/W4211154833","https://openalex.org/W4225886149","https://openalex.org/W4226032705","https://openalex.org/W4281716674","https://openalex.org/W4312504688","https://openalex.org/W4313331239","https://openalex.org/W6784410685"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W200819717","https://openalex.org/W28570768","https://openalex.org/W2032269556","https://openalex.org/W2944448661","https://openalex.org/W2064421702","https://openalex.org/W1991834176","https://openalex.org/W2912965286","https://openalex.org/W4253756925","https://openalex.org/W2980723633"],"abstract_inverted_index":{"The":[0,95],"lack":[1],"of":[2,6,65,165],"a":[3,13,74,102,149],"sufficient":[4],"number":[5],"reliable":[7,60],"corners":[8],"in":[9,69,118,157,188],"low-textured":[10,70],"environments":[11],"is":[12],"big":[14],"challenge":[15],"for":[16,25,107,120],"classical":[17],"visual":[18],"Simultaneous":[19],"Localization":[20],"And":[21],"Mapping":[22],"(SLAM),":[23],"especially":[24],"point":[26,90,113],"feature-based":[27,86,176],"methods.":[28],"Many":[29],"other":[30],"features":[31,50,91,114],"(i.e.,":[32],"line":[33,93,116],"and":[34,61,85,92,111,115,124,136,173,185],"plane":[35],"segments)":[36],"are":[37],"often":[38],"combined":[39],"with":[40,89,153],"points":[41],"to":[42],"restore":[43],"an":[44,66,129,162],"environmental":[45],"structure.":[46],"However,":[47],"using":[48],"such":[49],"requires":[51],"much":[52],"computational":[53],"time.":[54],"This":[55],"work":[56],"focuses":[57],"on":[58,101,132,178],"the":[59,170],"high-performance":[62],"real-time":[63],"operation":[64],"SLAM":[67,78,177],"system":[68,79,97],"scenarios.":[71,140,190],"It":[72,160],"proposes":[73],"semidirect":[75],"multimap":[76],"monocular":[77],"(SM-SLAM)":[80],"that":[81,144],"combines":[82],"direct":[83],"tracking":[84],"map":[87,152],"maintenance":[88],"segments.":[94],"proposed":[96],"tracks":[98],"nonkeyframes":[99],"based":[100],"sparse":[103,150],"image":[104],"alignment":[105],"method":[106],"fast":[108],"tracking,":[109],"extracts":[110],"matches":[112],"segments":[117],"keyframes":[119],"high-quality":[121],"environment":[122],"structure":[123,155],"motion":[125,183],"optimization.":[126],"We":[127],"present":[128],"extensive":[130],"evaluation":[131],"two":[133],"widely-used":[134],"datasets":[135,184],"some":[137,179],"challenging":[138],"real-world":[139],"Experimental":[141],"results":[142],"show":[143],"SM-SLAM":[145],"can":[146],"well":[147,187],"reconstruct":[148],"3-D":[151],"geometrical":[154],"information":[156],"30\u201340":[158],"Hz.":[159],"shows":[161],"accuracy":[163],"improvement":[164],"more":[166],"than":[167,169],"20%":[168],"Oriented":[171],"FAST":[172],"Rotated":[174],"BRIEF":[175],"low-speed,":[180],"small-range":[181],"camera":[182],"performs":[186],"low-texture":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
