{"id":"https://openalex.org/W4200250398","doi":"https://doi.org/10.1109/tip.2021.3136710","title":"Fast ORB-SLAM Without Keypoint Descriptors","display_name":"Fast ORB-SLAM Without Keypoint Descriptors","publication_year":2021,"publication_date":"2021-12-24","ids":{"openalex":"https://openalex.org/W4200250398","doi":"https://doi.org/10.1109/tip.2021.3136710","pmid":"https://pubmed.ncbi.nlm.nih.gov/34951846"},"language":"en","primary_location":{"id":"doi:10.1109/tip.2021.3136710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2021.3136710","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Image Processing","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.09870","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Qiang Fu","orcid":"https://orcid.org/0000-0002-8700-1334"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Qiang Fu","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Canada","National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-8700-1334","affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hongshan Yu","orcid":"https://orcid.org/0000-0003-1973-6766"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongshan Yu","raw_affiliation_strings":["National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-1973-6766","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaolong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I88830068","display_name":"Shaanxi Normal University","ror":"https://ror.org/0170z8493","country_code":"CN","type":"education","lineage":["https://openalex.org/I88830068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Wang","raw_affiliation_strings":["School of Mathematics and Information Science, Shaanxi Normal University, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics and Information Science, Shaanxi Normal University, Xi’an, China","institution_ids":["https://openalex.org/I88830068"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhengeng Yang","orcid":"https://orcid.org/0000-0001-6880-4441"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengeng Yang","raw_affiliation_strings":["National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-6880-4441","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yong He","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong He","raw_affiliation_strings":["National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1677-6132","affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ajmal Mian","orcid":"https://orcid.org/0000-0002-5206-3842"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajmal Mian","raw_affiliation_strings":["Department of Computer Science, The University of Western Australia, Perth, WA, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5206-3842","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":30.9603,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99389309,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"31","issue":null,"first_page":"1433","last_page":"1446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9081000089645386,"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":0.9081000089645386,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.07020000368356705,"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":0.005900000222027302,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.7674999833106995},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7116000056266785},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6123999953269958},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5063999891281128},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41269999742507935},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4101000130176544},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4016000032424927},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.3977000117301941},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.37619999051094055}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7674999833106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7534000277519226},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7116000056266785},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6380000114440918},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6123999953269958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5396000146865845},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41269999742507935},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4101000130176544},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4016000032424927},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3977000117301941},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3894999921321869},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.37619999051094055},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.37540000677108765},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.34540000557899475},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.2685000002384186},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C2776863239","wikidata":"https://www.wikidata.org/wiki/Q7936601","display_name":"Visual hull","level":3,"score":0.2522999942302704},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tip.2021.3136710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2021.3136710","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Image Processing","raw_type":"journal-article"},{"id":"pmid:34951846","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34951846","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on image processing : a publication of the IEEE Signal Processing Society","raw_type":null},{"id":"pmh:oai:arXiv.org:2008.09870","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.09870","pdf_url":"https://arxiv.org/pdf/2008.09870","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.atira.dk:publications/cf5eb6ef-7233-4994-b9b2-1ee4336a1241","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85122109882&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306402523","display_name":"UWA Profiles and Research Repository (University of Western Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fu , Q , Yu , H , Wang , X , Yang , Z , He , Y , Zhang , H & Mian. , A 2022 , ' Fast ORB-SLAM without Keypoint Descriptors ' , IEEE Transactions on Image Processing , vol. 31 , pp. 1433-1446 . https://doi.org/10.1109/TIP.2021.3136710","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.09870","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.09870","pdf_url":"https://arxiv.org/pdf/2008.09870","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2544253145","display_name":null,"funder_award_id":"U1913202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3390150364","display_name":null,"funder_award_id":"U2013203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5349408020","display_name":null,"funder_award_id":"201906130082","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G5668461847","display_name":null,"funder_award_id":"2022GK2014","funder_id":"https://openalex.org/F4320330206","funder_display_name":"Science and Technology Program of Hunan Province"},{"id":"https://openalex.org/G8052544299","display_name":null,"funder_award_id":"61973106","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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320330206","display_name":"Science and Technology Program of Hunan Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1498891331","https://openalex.org/W1612997784","https://openalex.org/W1963782270","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2064451896","https://openalex.org/W2069479606","https://openalex.org/W2117228865","https://openalex.org/W2128926607","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2154280780","https://openalex.org/W2474281075","https://openalex.org/W2527142681","https://openalex.org/W2535547924","https://openalex.org/W2560474170","https://openalex.org/W2564632156","https://openalex.org/W2573918384","https://openalex.org/W2595306270","https://openalex.org/W2606794968","https://openalex.org/W2737652487","https://openalex.org/W2745859992","https://openalex.org/W2752239616","https://openalex.org/W2754925132","https://openalex.org/W2769441038","https://openalex.org/W2772126356","https://openalex.org/W2797929305","https://openalex.org/W2802862847","https://openalex.org/W2808571300","https://openalex.org/W2830339951","https://openalex.org/W2868031416","https://openalex.org/W2884962765","https://openalex.org/W2888144883","https://openalex.org/W2903284225","https://openalex.org/W2906998383","https://openalex.org/W2910963390","https://openalex.org/W2926116587","https://openalex.org/W2944474001","https://openalex.org/W2950989657","https://openalex.org/W2951730755","https://openalex.org/W2953581191","https://openalex.org/W2959389829","https://openalex.org/W2963150697","https://openalex.org/W2963200201","https://openalex.org/W2963562098","https://openalex.org/W2964156315","https://openalex.org/W2966838560","https://openalex.org/W2966911063","https://openalex.org/W2967043539","https://openalex.org/W2968288611","https://openalex.org/W2968704155","https://openalex.org/W2975536154","https://openalex.org/W2977977449","https://openalex.org/W2979980909","https://openalex.org/W2983230029","https://openalex.org/W2989674076","https://openalex.org/W2996144174","https://openalex.org/W2997495511","https://openalex.org/W3000004788","https://openalex.org/W3000338907","https://openalex.org/W3007124256","https://openalex.org/W3035056458","https://openalex.org/W3052078203","https://openalex.org/W3090298435","https://openalex.org/W3131673036","https://openalex.org/W4247250903","https://openalex.org/W6637636807","https://openalex.org/W6756279856","https://openalex.org/W6758162286","https://openalex.org/W6795742097","https://openalex.org/W6966814156"],"related_works":[],"abstract_inverted_index":{"Indirect":[0],"methods":[1],"for":[2,32,140],"visual":[3],"SLAM":[4,161],"are":[5],"gaining":[6],"popularity":[7],"due":[8],"to":[9,12,129,157],"their":[10],"robustness":[11],"environmental":[13],"variations.":[14],"ORB-SLAM2":[15],"(Mur-Artal":[16],"and":[17,57,102,126,147,151,155,164,174],"Tard\u00f3s,":[18],"2017)":[19],"is":[20,42,55,79,175],"a":[21,40,45,72,96],"benchmark":[22],"method":[23,78,136,170],"in":[24],"this":[25],"domain,":[26],"however,":[27],"it":[28,60],"consumes":[29],"significant":[30],"time":[31],"computing":[33,67],"descriptors":[34,138],"that":[35,168],"never":[36],"get":[37],"reused":[38],"unless":[39],"frame":[41],"selected":[43],"as":[44,59,178,180],"keyframe.":[46],"To":[47,69],"overcome":[48],"these":[49],"problems,":[50],"we":[51,90,118],"present":[52],"FastORB-SLAM":[53,144],"which":[54],"light-weight":[56],"efficient":[58],"tracks":[61],"keypoints":[62],"between":[63],"adjacent":[64],"frames":[65],"without":[66],"descriptors.":[68],"achieve":[70],"this,":[71],"two":[73],"stage":[74],"descriptor-independent":[75],"keypoint":[76,93],"matching":[77],"proposed":[80],"based":[81],"on":[82,145],"sparse":[83,110],"optical":[84,111],"flow.":[85],"In":[86,114,133],"the":[87,106,115,120,123,131,181],"first":[88],"stage,":[89,117],"predict":[91],"initial":[92],"correspondences":[94,107],"via":[95,108],"simple":[97],"but":[98],"effective":[99],"motion":[100,124],"model":[101],"then":[103],"robustly":[104],"establish":[105],"pyramid-based":[109],"flow":[112],"tracking.":[113],"second":[116],"leverage":[119],"constraints":[121],"of":[122],"smoothness":[125],"epipolar":[127],"geometry":[128],"refine":[130],"correspondences.":[132],"particular,":[134],"our":[135,169],"computes":[137],"only":[139],"keyframes.":[141],"We":[142],"test":[143],"TUM":[146],"ICL-NUIM":[148],"RGB-D":[149,160],"datasets":[150],"compare":[152],"its":[153],"accuracy":[154,173],"efficiency":[156],"nine":[158],"existing":[159],"methods.":[162],"Qualitative":[163],"quantitative":[165],"results":[166],"show":[167],"achieves":[171],"state-of-the-art":[172],"about":[176],"twice":[177],"fast":[179],"ORB-SLAM2.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2021-12-31T00:00:00"}