{"id":"https://openalex.org/W4406321806","doi":"https://doi.org/10.1109/tim.2025.3527618","title":"A Real-Time, Robust, and Versatile Visual-SLAM Framework Based on Deep Learning Networks","display_name":"A Real-Time, Robust, and Versatile Visual-SLAM Framework Based on Deep Learning Networks","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406321806","doi":"https://doi.org/10.1109/tim.2025.3527618"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3527618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3527618","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":null,"display_name":"Xiao Zhang","orcid":"https://orcid.org/0009-0007-1628-2443"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhang","raw_affiliation_strings":["College of Computer Science and Technology, National Engineering Laboratory for E-Government Modeling and Simulation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-1628-2443","affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National Engineering Laboratory for E-Government Modeling and Simulation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072710254","display_name":"Hongbin Dong","orcid":"https://orcid.org/0000-0001-5046-1532"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Dong","raw_affiliation_strings":["College of Computer Science and Technology, National Engineering Laboratory for E-Government Modeling and Simulation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5046-1532","affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National Engineering Laboratory for E-Government Modeling and Simulation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019251568","display_name":"Haoxin Zhang","orcid":"https://orcid.org/0009-0009-5084-0781"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"funder","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoxin Zhang","raw_affiliation_strings":["Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-5084-0781","affiliations":[{"raw_affiliation_string":"Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China","institution_ids":["https://openalex.org/I4210160531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066026577","display_name":"Xiaozhou Zhu","orcid":"https://orcid.org/0000-0003-2305-7467"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"funder","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozhou Zhu","raw_affiliation_strings":["Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2305-7467","affiliations":[{"raw_affiliation_string":"Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China","institution_ids":["https://openalex.org/I4210160531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016764790","display_name":"Shuaixin Li","orcid":"https://orcid.org/0000-0002-0933-8740"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"funder","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaixin Li","raw_affiliation_strings":["Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0933-8740","affiliations":[{"raw_affiliation_string":"Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China","institution_ids":["https://openalex.org/I4210160531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103031525","display_name":"Baosong Deng","orcid":"https://orcid.org/0009-0007-7202-6356"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"funder","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baosong Deng","raw_affiliation_strings":["Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-7202-6356","affiliations":[{"raw_affiliation_string":"Defense Innovation Institute, Chinese Academy of Military Science, Beijing, China","institution_ids":["https://openalex.org/I4210160531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":50.791,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.99759534,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"74","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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9959999918937683,"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":0.9945999979972839,"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":0.654330849647522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6217490434646606},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5937546491622925},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4631381034851074},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42649561166763306},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3970583975315094}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654330849647522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6217490434646606},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5937546491622925},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4631381034851074},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42649561166763306},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3970583975315094},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3527618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3527618","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/G3835191934","display_name":null,"funder_award_id":"42201501","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1970504153","https://openalex.org/W2064451896","https://openalex.org/W2110357983","https://openalex.org/W2118223742","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2909063396","https://openalex.org/W2937713253","https://openalex.org/W2960033181","https://openalex.org/W2963037989","https://openalex.org/W2964314455","https://openalex.org/W2997495511","https://openalex.org/W3019283508","https://openalex.org/W3034275286","https://openalex.org/W3035056458","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3098250009","https://openalex.org/W3098486636","https://openalex.org/W3099913005","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3131673036","https://openalex.org/W3148176530","https://openalex.org/W4226481925","https://openalex.org/W4281611374","https://openalex.org/W4291652828","https://openalex.org/W4312548398","https://openalex.org/W4312878643","https://openalex.org/W4320919242","https://openalex.org/W4389668085","https://openalex.org/W4390872507","https://openalex.org/W4392904189","https://openalex.org/W4392931743","https://openalex.org/W4396667787","https://openalex.org/W4401416480","https://openalex.org/W4402353707","https://openalex.org/W4402774445","https://openalex.org/W6758162286","https://openalex.org/W6800540912","https://openalex.org/W6842108812","https://openalex.org/W6856141854"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407"],"abstract_inverted_index":{"In":[0],"this":[1,162],"article,":[2],"we":[3,35,72,122],"investigate":[4],"the":[5,13,81,124,133,144,168],"paradigm":[6],"of":[7,15,69,127,143,146,171],"deep":[8,29,150],"learning":[9,151],"techniques":[10],"to":[11,106,132,154],"enhance":[12],"performance":[14,126],"visual-based":[16],"simultaneous":[17],"localization":[18,174],"and":[19,32,61,85,101,119,176],"mapping":[20],"(vSLAM)":[21],"systems,":[22],"particularly":[23],"in":[24,49,161],"challenging":[25],"environments.":[26],"By":[27],"leveraging":[28],"feature":[30,83],"extraction":[31,84],"matching":[33,86],"methods,":[34],"propose":[36],"a":[37,76],"robust,":[38],"versatile":[39],"hybrid":[40],"visual":[41,147],"SLAM":[42,90,148],"framework,":[43],"Rover-SLAM,":[44],"aimed":[45],"at":[46],"improving":[47],"adaptability":[48],"adverse":[50],"conditions,":[51,56],"such":[52],"as":[53],"dynamic":[54],"lighting":[55],"areas":[57],"with":[58,149],"weak":[59],"textures,":[60],"camera":[62],"jitter.":[63],"Building":[64],"on":[65,115],"excellent":[66],"learning-based":[67],"algorithms":[68],"recent":[70],"years,":[71],"designed":[73],"from":[74],"scratch":[75],"novel":[77],"system":[78,93,130],"that":[79],"uses":[80],"same":[82],"approaches":[87],"for":[88,157],"all":[89],"tasks.":[91],"Our":[92],"supports":[94],"multiple":[95],"modes,":[96],"including":[97],"monocular,":[98],"stereo,":[99],"monocular-inertial,":[100],"stereo-inertial":[102],"configurations,":[103],"offering":[104],"flexibility":[105],"address":[107],"diverse":[108],"real-world":[109],"scenarios.":[110],"Through":[111],"comprehensive":[112],"experiments":[113],"conducted":[114,139],"publicly":[116],"available":[117],"datasets":[118],"self-collected":[120],"data,":[121],"demonstrate":[123],"superior":[125],"our":[128],"Rover-SLAM":[129],"compared":[131],"state-of-the-art":[134],"(SOTA)":[135],"approaches.":[136],"We":[137],"also":[138],"an":[140],"in-depth":[141],"analysis":[142],"integration":[145],"methods":[152],"quantitatively":[153],"provide":[155],"insights":[156],"future":[158],"research":[159],"endeavors":[160],"domain.":[163],"The":[164],"experimental":[165],"results":[166],"showcase":[167],"system\u2019s":[169],"capability":[170],"achieving":[172],"higher":[173],"accuracy":[175],"robust":[177],"tracking":[178],"performance.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
