{"id":"https://openalex.org/W4412081914","doi":"https://doi.org/10.1109/tim.2025.3586340","title":"An Illumination-Adaptive Visual SLAM Algorithm With Lightweight Object Detection for Complex Dynamic Environments","display_name":"An Illumination-Adaptive Visual SLAM Algorithm With Lightweight Object Detection for Complex Dynamic Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412081914","doi":"https://doi.org/10.1109/tim.2025.3586340"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3586340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3586340","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/A5100361117","display_name":"Li Li","orcid":"https://orcid.org/0000-0002-1963-8587"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Li","raw_affiliation_strings":["School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-1963-8587","affiliations":[{"raw_affiliation_string":"School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ze-Kun Zuo","orcid":"https://orcid.org/0009-0000-1683-0242"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ze-Kun Zuo","raw_affiliation_strings":["School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0009-0000-1683-0242","affiliations":[{"raw_affiliation_string":"School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ru-Feng Bu","orcid":"https://orcid.org/0009-0005-8236-8988"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ru-Feng Bu","raw_affiliation_strings":["School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0009-0005-8236-8988","affiliations":[{"raw_affiliation_string":"School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018754249","display_name":"Yu-Jie Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097939","display_name":"Zhejiang Provincial Institute of Communications Planning,Design & Research","ror":"https://ror.org/011cs1z84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210097939"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu-Jie Zhang","raw_affiliation_strings":["Zhejiang Provincial Transportation Group Technology Research Institute Company Ltd., Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-2002-4439","affiliations":[{"raw_affiliation_string":"Zhejiang Provincial Transportation Group Technology Research Institute Company Ltd., Hangzhou, China","institution_ids":["https://openalex.org/I4210097939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091868247","display_name":"Run-Min Wang","orcid":"https://orcid.org/0000-0002-4957-3016"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Run-Min Wang","raw_affiliation_strings":["School of Information Engineering, Chang&#x2019;an University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-4957-3016","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Chang&#x2019;an University, Xi&#x2019;an, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037621573","display_name":"Er\u2010Long Tan","orcid":"https://orcid.org/0009-0003-0604-1823"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Er-Long Tan","raw_affiliation_strings":["School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0009-0003-0604-1823","affiliations":[{"raw_affiliation_string":"School of Electronics and Control Engineering, Chang&#x2019;an University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I25355098"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.814,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96544997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9962000250816345,"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":0.9951000213623047,"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":0.6814134120941162},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6359334588050842},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5989934206008911},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5878514051437378},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.547920286655426},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44836801290512085},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.355247437953949},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25998616218566895},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2558310627937317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22226941585540771}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814134120941162},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6359334588050842},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5989934206008911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5878514051437378},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.547920286655426},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44836801290512085},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.355247437953949},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25998616218566895},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2558310627937317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22226941585540771}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3586340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3586340","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W2016622085","https://openalex.org/W2058333183","https://openalex.org/W2085261163","https://openalex.org/W2102605133","https://openalex.org/W2128060444","https://openalex.org/W2150066425","https://openalex.org/W2167667767","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2565639579","https://openalex.org/W2625165894","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2963037989","https://openalex.org/W2967125357","https://openalex.org/W2979458572","https://openalex.org/W2982083293","https://openalex.org/W2996333182","https://openalex.org/W2997254422","https://openalex.org/W3010579946","https://openalex.org/W3035564946","https://openalex.org/W3088596192","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W3125509312","https://openalex.org/W3126389988","https://openalex.org/W3182421700","https://openalex.org/W4281611374","https://openalex.org/W4283068412","https://openalex.org/W4289524647","https://openalex.org/W4292261858","https://openalex.org/W4297904446","https://openalex.org/W4308024230","https://openalex.org/W4311167006","https://openalex.org/W4313558028","https://openalex.org/W4362552784","https://openalex.org/W4365517398","https://openalex.org/W4366502701","https://openalex.org/W4372347372","https://openalex.org/W4378697007","https://openalex.org/W4386319016","https://openalex.org/W4389631878","https://openalex.org/W4389665346","https://openalex.org/W4392940406","https://openalex.org/W4395469266","https://openalex.org/W4400111956","https://openalex.org/W4400230706","https://openalex.org/W4403919744","https://openalex.org/W4405845900","https://openalex.org/W6748528437","https://openalex.org/W6762718338","https://openalex.org/W6800540912","https://openalex.org/W6846863797","https://openalex.org/W6848963243"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W4409439182","https://openalex.org/W28570768","https://openalex.org/W2053286651","https://openalex.org/W2181743346","https://openalex.org/W2187401768","https://openalex.org/W2181413294","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"Existing":[0],"visual":[1,47],"simultaneous":[2],"localization":[3,158,224],"and":[4,13,71,79,91,128,142,157,163,214,238,263],"mapping":[5,114],"(SLAM)":[6],"algorithms":[7],"excel":[8],"in":[9,18,211,218],"stable":[10],"illumination":[11,162,167],"variation":[12,194],"static":[14,72],"environments,":[15],"but":[16],"struggle":[17],"dynamic":[19,30,70,100,134,164],"environments":[20],"with":[21,59,124,191,259],"varying":[22,161,169],"illumination.":[23],"Object":[24],"detection,":[25],"an":[26,52,93,125,184,192],"essential":[27],"component":[28],"for":[29],"feature":[31,55,76,101,153,186,197],"removal,":[32],"imposes":[33],"substantial":[34],"computational":[35],"burdens":[36],"due":[37],"to":[38,67,97,132,172],"model":[39,219],"architectural":[40],"complexity.":[41],"This":[42],"study":[43],"proposed":[44,148,254],"a":[45,60,110,208,215,229,239],"robust":[46],"SLAM":[48,89,120,149,255],"framework":[49,150,227],"that":[50,146],"fuses":[51],"illumination-adaptive":[53],"thresholding":[54,180],"point":[56,77,102,112,136,154,187],"extraction":[57,78],"module":[58,84,115],"lightweight":[61,203],"object":[62,135,204],"detection":[63,205],"network":[64,131,206],"(YOLO+ShuffleNetV2+":[65],"EMA)":[66],"effectively":[68],"separate":[69],"features":[73],"by":[74,252],"improving":[75],"matching":[80],"accuracy.":[81],"The":[82,202,249],"fusion":[83],"is":[85,116],"deployed":[86],"at":[87],"the":[88,99,106,119,129,147,175,178,226,253,260],"front-end":[90],"utilizes":[92],"independent":[94],"threading":[95],"mechanism":[96],"decouple":[98],"removal":[103],"process":[104],"from":[105,170],"main":[107],"pipeline.":[108],"Furthermore,":[109],"back-end":[111],"cloud":[113],"introduced":[117],"into":[118],"framework,":[121],"which":[122],"collaborates":[123],"RGB-D":[126],"camera":[127],"YOLO+ShuffleNetV2+EMA":[130],"eliminate":[133],"clouds.":[137],"Experimental":[138],"results":[139],"on":[140],"indoor":[141],"outdoor":[143],"datasets":[144],"demonstrate":[145],"significantly":[151],"enhances":[152],"processing":[155],"capability":[156],"accuracy":[159],"under":[160],"environments.":[165,201],"Under":[166],"conditions":[168],"30%":[171],"130%":[173],"within":[174],"same":[176],"scene,":[177],"adaptive":[179],"method":[181],"consistently":[182],"maintains":[183],"average":[185,193],"count":[188,213],"exceeding":[189],"1700,":[190],"of":[195,223,235,242,246],"784":[196],"points":[198],"across":[199],"different":[200],"achieves":[207,228],"70.72%":[209],"reduction":[210,234,245],"parameter":[212],"71.33%":[216],"decrease":[217],"size.":[220],"In":[221],"terms":[222],"accuracy,":[225],"maximum":[230,240],"absolute":[231],"trajectory":[232],"error":[233],"over":[236,247],"95%":[237],"sum":[241],"squared":[243],"errors":[244],"94%.":[248],"trajectories":[250],"generated":[251],"algorithm":[256],"closely":[257],"align":[258],"ground":[261],"truth":[262],"enable":[264],"real-time":[265],"computation":[266],"using":[267],"CPU-only":[268],"processing.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
