{"id":"https://openalex.org/W4400447263","doi":"https://doi.org/10.1109/tits.2024.3418949","title":"DynaQuadric: Dynamic Quadric SLAM for Quadric Initialization, Mapping, and Tracking","display_name":"DynaQuadric: Dynamic Quadric SLAM for Quadric Initialization, Mapping, and Tracking","publication_year":2024,"publication_date":"2024-07-09","ids":{"openalex":"https://openalex.org/W4400447263","doi":"https://doi.org/10.1109/tits.2024.3418949"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3418949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3418949","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.ulster.ac.uk/ws/files/206669123/Submitted_Version.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075002150","display_name":"Rui Tian","orcid":"https://orcid.org/0000-0002-8944-1966"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rui Tian","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015980158","display_name":"Linghao Yang","orcid":"https://orcid.org/0000-0002-1897-7659"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linghao Yang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005979742","display_name":"Jinpeng Zhang","orcid":"https://orcid.org/0000-0001-7282-7275"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinpeng Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070227862","display_name":"Sonya Coleman","orcid":"https://orcid.org/0000-0002-4676-7640"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sonya Coleman","raw_affiliation_strings":["School of Computing, Engineering and Intelligent Systems, Ulster University, Northern Ireland, U.K"],"affiliations":[{"raw_affiliation_string":"School of Computing, Engineering and Intelligent Systems, Ulster University, Northern Ireland, U.K","institution_ids":["https://openalex.org/I138801177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015138346","display_name":"Dermot Kerr","orcid":"https://orcid.org/0000-0002-5077-0658"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dermot Kerr","raw_affiliation_strings":["School of Computing, Engineering and Intelligent Systems, Ulster University, Northern Ireland, U.K"],"affiliations":[{"raw_affiliation_string":"School of Computing, Engineering and Intelligent Systems, Ulster University, Northern Ireland, U.K","institution_ids":["https://openalex.org/I138801177"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5075002150"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":12.5227,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98019125,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"25","issue":"11","first_page":"17234","last_page":"17246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/quadric","display_name":"Quadric","score":0.908194899559021},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8377719521522522},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.565944254398346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5529791712760925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5486701726913452},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4364440143108368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3117302656173706},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.09659439325332642},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07168716192245483},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.048140645027160645}],"concepts":[{"id":"https://openalex.org/C2779219049","wikidata":"https://www.wikidata.org/wiki/Q852117","display_name":"Quadric","level":2,"score":0.908194899559021},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8377719521522522},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.565944254398346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5529791712760925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5486701726913452},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4364440143108368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3117302656173706},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.09659439325332642},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07168716192245483},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.048140645027160645},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2024.3418949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3418949","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/78f715a4-bfa2-4697-b80f-225c02e66a33","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/78f715a4-bfa2-4697-b80f-225c02e66a33","pdf_url":"https://pure.ulster.ac.uk/ws/files/206669123/Submitted_Version.pdf","source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Tian, R, Zhang, Y, Yang, L, Zhang, J, Coleman, S & Kerr, D 2024, 'DynaQuadric: Dynamic Quadric SLAM for Quadric Initialization, Mapping, and Tracking', IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 11, pp. 17234-17246. https://doi.org/10.1109/tits.2024.3418949","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/78f715a4-bfa2-4697-b80f-225c02e66a33","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/78f715a4-bfa2-4697-b80f-225c02e66a33","pdf_url":"https://pure.ulster.ac.uk/ws/files/206669123/Submitted_Version.pdf","source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Tian, R, Zhang, Y, Yang, L, Zhang, J, Coleman, S & Kerr, D 2024, 'DynaQuadric: Dynamic Quadric SLAM for Quadric Initialization, Mapping, and Tracking', IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 11, pp. 17234-17246. https://doi.org/10.1109/tits.2024.3418949","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2007767059","display_name":null,"funder_award_id":"61471110","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5760752404","display_name":null,"funder_award_id":"Projects","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G615859443","display_name":null,"funder_award_id":"6142002200301","funder_id":"https://openalex.org/F4320336737","funder_display_name":"China Aerospace Science and Technology Innovation Fund"},{"id":"https://openalex.org/G6599503193","display_name":null,"funder_award_id":"No. 61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7836423780","display_name":null,"funder_award_id":"Liaoning","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8955107213","display_name":null,"funder_award_id":"Major","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/F4320336737","display_name":"China Aerospace Science and Technology Innovation Fund","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400447263.pdf","grobid_xml":"https://content.openalex.org/works/W4400447263.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W1923747199","https://openalex.org/W2101703235","https://openalex.org/W2170282673","https://openalex.org/W2222512263","https://openalex.org/W2252355370","https://openalex.org/W2340164423","https://openalex.org/W2510568036","https://openalex.org/W2610694266","https://openalex.org/W2670684868","https://openalex.org/W2746580560","https://openalex.org/W2808571300","https://openalex.org/W2811184430","https://openalex.org/W2887751724","https://openalex.org/W2913685494","https://openalex.org/W2938672559","https://openalex.org/W2941292358","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2964100986","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W2967664003","https://openalex.org/W2968147691","https://openalex.org/W2981856731","https://openalex.org/W2989838178","https://openalex.org/W2993182889","https://openalex.org/W3020500358","https://openalex.org/W3028228043","https://openalex.org/W3034848995","https://openalex.org/W3043971245","https://openalex.org/W3098467253","https://openalex.org/W3104218139","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3106487434","https://openalex.org/W3127066163","https://openalex.org/W3130848239","https://openalex.org/W3146082954","https://openalex.org/W3164088557","https://openalex.org/W3176258611","https://openalex.org/W3199037603","https://openalex.org/W4205889483","https://openalex.org/W4206120224","https://openalex.org/W4281779005","https://openalex.org/W4285161064","https://openalex.org/W4293584584","https://openalex.org/W4311841579","https://openalex.org/W4311912364","https://openalex.org/W4312953854","https://openalex.org/W4377000514","https://openalex.org/W4380303801","https://openalex.org/W4387294039","https://openalex.org/W4389665463","https://openalex.org/W6703838555","https://openalex.org/W6750227808","https://openalex.org/W6778471983","https://openalex.org/W6856963884"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Dynamic":[0],"SLAM":[1,26,61,165],"is":[2,18,64,116],"a":[3,34,59,73,89,119,130,163,173],"key":[4],"technology":[5],"for":[6,20,76,95],"autonomous":[7],"driving":[8],"and":[9,11,37,84,98,122,143,170,180,186,189,193,204],"robotics,":[10],"accurate":[12],"pose":[13,79,109],"estimation":[14,105],"of":[15,33,66,106,154,197,212],"surrounding":[16],"objects":[17,69],"important":[19],"semantic":[21],"perception":[22,214],"tasks.":[23],"Current":[24],"quadric":[25,85,92,112,123,144,168,201,216],"methods":[27],"are":[28,125,158],"based":[29],"on":[30,183],"the":[31,44,103,107,111,147,152,159,191,209],"assumption":[32],"static":[35,41,97],"environment":[36],"can":[38],"only":[39],"reconstruct":[40],"quadrics":[42],"in":[43,50,172,195,218],"scene,":[45],"which":[46,101],"limits":[47],"their":[48],"applications":[49],"complex":[51,219],"dynamic":[52,68,164,200,220],"scenarios.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57,157],"propose":[58,88,162],"visual":[60],"system":[62,207],"that":[63,134,166],"capable":[65],"reconstructing":[67],"as":[70],"quadrics,":[71],"with":[72,118,215],"unified":[74],"framework":[75],"jointly":[77],"optimizing":[78],"estimation,":[80],"multi-object":[81],"tracking":[82],"(MOT),":[83],"parameters.":[86,113],"We":[87,128,177],"robust":[90],"object-centric":[91],"initialization":[93],"algorithm":[94],"both":[96,184],"moving":[99],"objects,":[100],"decouples":[102],"prior":[104],"object":[108,115,139,213],"from":[110],"The":[114],"initialized":[117],"coarse":[120],"sphere,":[121],"parameters":[124,145],"further":[126],"refined.":[127],"design":[129],"novel":[131],"factor":[132],"graph":[133],"tightly":[135,174],"optimizes":[136],"camera":[137,198],"pose,":[138,140],"map":[141],"points":[142],"within":[146],"sliding":[148],"window-based":[149],"optimization.":[150,176],"To":[151],"best":[153],"our":[155],"knowledge,":[156],"first":[160],"to":[161],"combines":[167],"representations":[169],"MOT":[171],"coupled":[175],"perform":[178],"qualitative":[179],"quantitative":[181],"experiments":[182],"simulated":[185],"real-world":[187],"datasets,":[188],"demonstrate":[190],"robustness":[192],"accuracy":[194],"terms":[196],"localization,":[199],"initialization,":[202],"mapping":[203],"tracking.":[205],"Our":[206],"demonstrates":[208],"potential":[210],"application":[211],"representation":[217],"scenes.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}