{"id":"https://openalex.org/W4408017428","doi":"https://doi.org/10.1109/tim.2025.3546395","title":"Real-Time Dynamic Visual-Inertial SLAM and Object Tracking Based on Lightweight Deep Feature Extraction Matching","display_name":"Real-Time Dynamic Visual-Inertial SLAM and Object Tracking Based on Lightweight Deep Feature Extraction Matching","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408017428","doi":"https://doi.org/10.1109/tim.2025.3546395"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3546395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3546395","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/A5058840766","display_name":"Hanxuan Zhang","orcid":"https://orcid.org/0000-0002-7516-8209"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanxuan Zhang","raw_affiliation_strings":["National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7516-8209","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101595654","display_name":"Ju Huo","orcid":"https://orcid.org/0009-0007-1171-7778"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ju Huo","raw_affiliation_strings":["National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-1171-7778","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"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":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9303-9083","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100453223","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0002-7520-306X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7520-306X","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Modeling and Simulation for Complex Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.592,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99151477,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"22"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9958000183105469,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9958000183105469,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9940000176429749,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7718204855918884},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.743935227394104},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.7062870264053345},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6663767695426941},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6553622484207153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6094962358474731},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5352998375892639},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5276839733123779},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48357173800468445},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4810243248939514},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4766327142715454},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46136656403541565},{"id":"https://openalex.org/keywords/extraction","display_name":"Extraction (chemistry)","score":0.43550175428390503},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41388797760009766},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3834771513938904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19069957733154297},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1374334692955017},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11232519149780273}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7718204855918884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.743935227394104},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.7062870264053345},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6663767695426941},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6553622484207153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6094962358474731},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5352998375892639},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5276839733123779},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48357173800468445},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4810243248939514},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4766327142715454},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46136656403541565},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.43550175428390503},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41388797760009766},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3834771513938904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19069957733154297},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1374334692955017},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11232519149780273},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3546395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3546395","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/G1078231377","display_name":null,"funder_award_id":"2022YJ135","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3520130506","display_name":null,"funder_award_id":"62373118","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2601243251","https://openalex.org/W2737260104","https://openalex.org/W2785901219","https://openalex.org/W2808571300","https://openalex.org/W2907166966","https://openalex.org/W2938672559","https://openalex.org/W2960033181","https://openalex.org/W2962851801","https://openalex.org/W2967352563","https://openalex.org/W2988767036","https://openalex.org/W3004213029","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3047032303","https://openalex.org/W3083367015","https://openalex.org/W3120564201","https://openalex.org/W3120651375","https://openalex.org/W3132511292","https://openalex.org/W3132586705","https://openalex.org/W3146082954","https://openalex.org/W3184865089","https://openalex.org/W3199037603","https://openalex.org/W3210848520","https://openalex.org/W4200205411","https://openalex.org/W4211047091","https://openalex.org/W4281779005","https://openalex.org/W4293094564","https://openalex.org/W4293812019","https://openalex.org/W4306168147","https://openalex.org/W4312290933","https://openalex.org/W4313639316","https://openalex.org/W4320919242","https://openalex.org/W4321016548","https://openalex.org/W4324290686","https://openalex.org/W4378697007","https://openalex.org/W4385236875","https://openalex.org/W4385338677","https://openalex.org/W4386869837","https://openalex.org/W4387010217","https://openalex.org/W4390120152","https://openalex.org/W4390421916","https://openalex.org/W4390672711","https://openalex.org/W4390872507","https://openalex.org/W4392007275","https://openalex.org/W6737664043","https://openalex.org/W6738345448","https://openalex.org/W6752208963"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2742744817","https://openalex.org/W2991246638","https://openalex.org/W2382856674","https://openalex.org/W2965594636","https://openalex.org/W2164674712"],"abstract_inverted_index":{"To":[0],"mitigate":[1],"the":[2,9,48,63,151,167],"heavy":[3],"reliance":[4],"on":[5,82],"semantic":[6,101],"information":[7],"and":[8,19,22,45,51,62,77,119,127,137,140],"unreliability":[10],"of":[11,65,85,97,155],"manual":[12,66],"feature":[13,32,43,86],"extraction":[14,33,44],"in":[15,132],"dynamic":[16,79,141,158,172],"simultaneous":[17],"localization":[18,168],"mapping":[20],"(SLAM)":[21],"object":[23,70,142],"tracking":[24,71,96,157],"systems,":[25],"a":[26],"novel":[27],"visual-inertial":[28],"SLAM":[29],"with":[30,160,170],"deep":[31,59,111],"matching":[34],"is":[35,40,73,113,153],"proposed.":[36],"A":[37,68],"lightweight":[38],"network":[39],"designed":[41],"for":[42,75,110],"description,":[46],"replacing":[47],"oriented":[49],"FAST":[50],"rotated":[52],"BRIEF":[53],"(ORB)":[54],"approach,":[55],"which":[56,93,115],"can":[57],"address":[58],"learning":[60],"latency":[61],"shortcomings":[64],"extraction.":[67],"fast":[69],"method":[72],"developed":[74],"extracting":[76],"associating":[78],"objects":[80,99,159],"based":[81],"clustering":[83],"analyses":[84],"point":[87],"pair":[88],"distances":[89],"to":[90],"epipolar":[91],"lines,":[92],"enables":[94],"real-time":[95,133],"numerous":[98],"without":[100],"data.":[102],"An":[103],"advanced":[104],"online":[105],"incremental":[106],"loop":[107],"closure":[108],"detector":[109],"features":[112],"designed,":[114],"supersedes":[116],"ORB-based":[117],"detectors":[118],"maintains":[120],"global":[121],"pose":[122],"optimization.":[123],"The":[124],"system\u2019s":[125],"effectiveness":[126],"advantages,":[128],"including":[129],"its":[130],"proficiency":[131],"embedded":[134],"platform":[135],"execution":[136],"enhanced":[138],"self-localization":[139],"tracking,":[143],"have":[144],"been":[145],"demonstrated":[146],"through":[147],"extensive":[148],"evaluations.":[149],"Notably,":[150],"system":[152,169],"capable":[154],"consistently":[156],"rapid":[161],"movement":[162],"or":[163],"weak":[164],"texture,":[165],"furnishing":[166],"robust":[171],"constraints.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":14}],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2025-10-10T00:00:00"}