{"id":"https://openalex.org/W4406321546","doi":"https://doi.org/10.1109/tits.2024.3520177","title":"Optimized Feature Points and Keyframe Methods for VSLAM in High-Dynamic Indoor Environments","display_name":"Optimized Feature Points and Keyframe Methods for VSLAM in High-Dynamic Indoor Environments","publication_year":2025,"publication_date":"2025-01-13","ids":{"openalex":"https://openalex.org/W4406321546","doi":"https://doi.org/10.1109/tits.2024.3520177"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3520177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3520177","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":"http://bura.brunel.ac.uk/bitstream/2438/30805/3/FullText.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091521083","display_name":"Zhuhua Hu","orcid":"https://orcid.org/0000-0002-6837-9024"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhuhua Hu","raw_affiliation_strings":["School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099243667","display_name":"Wenlu Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlu Qi","raw_affiliation_strings":["School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099243668","display_name":"Kunkun Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunkun Ding","raw_affiliation_strings":["School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103107658","display_name":"Hao Qi","orcid":"https://orcid.org/0009-0004-2118-5910"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Qi","raw_affiliation_strings":["School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yaochi Zhao","orcid":"https://orcid.org/0009-0004-7035-9307"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaochi Zhao","raw_affiliation_strings":["School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, School of Cyberspace Security (School of Cryptology), Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Cyberspace Security (School of Cryptology), School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":null,"display_name":"Mingfeng Wang","orcid":"https://orcid.org/0000-0001-6551-0325"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mingfeng Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Brunel University London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Brunel University London, London, U.K","institution_ids":["https://openalex.org/I59433898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5091521083"],"corresponding_institution_ids":["https://openalex.org/I20942203"],"apc_list":null,"apc_paid":null,"fwci":14.9047,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97881057,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"26","issue":"3","first_page":"3101","last_page":"3114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9789999723434448,"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":0.9789999723434448,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9358000159263611,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9287999868392944,"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":0.6249149441719055},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6120060682296753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6035797595977783},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5913798809051514},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.47150105237960815},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13772818446159363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10152369737625122}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6249149441719055},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6120060682296753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6035797595977783},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5913798809051514},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.47150105237960815},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13772818446159363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10152369737625122},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2024.3520177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3520177","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:bura.brunel.ac.uk:2438/30805","is_oa":true,"landing_page_url":"https://bura.brunel.ac.uk/handle/2438/30805","pdf_url":"http://bura.brunel.ac.uk/bitstream/2438/30805/3/FullText.pdf","source":{"id":"https://openalex.org/S4306401473","display_name":"Brunel University Research Archive (BURA) (Brunel University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59433898","host_organization_name":"Brunel University of London","host_organization_lineage":["https://openalex.org/I59433898"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:bura.brunel.ac.uk:2438/30805","is_oa":true,"landing_page_url":"https://bura.brunel.ac.uk/handle/2438/30805","pdf_url":"http://bura.brunel.ac.uk/bitstream/2438/30805/3/FullText.pdf","source":{"id":"https://openalex.org/S4306401473","display_name":"Brunel University Research Archive (BURA) (Brunel University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59433898","host_organization_name":"Brunel University of London","host_organization_lineage":["https://openalex.org/I59433898"],"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":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1519701041","display_name":null,"funder_award_id":"ZDYF2022GXJS348","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"},{"id":"https://openalex.org/G2454108603","display_name":null,"funder_award_id":"ZDYF2024GXJS021","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"},{"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/G3456202659","display_name":null,"funder_award_id":"623RC446","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","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/G6184169391","display_name":null,"funder_award_id":"62161010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6725100558","display_name":null,"funder_award_id":"62361024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8080555053","display_name":null,"funder_award_id":"62361024","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"},{"id":"https://openalex.org/G825003674","display_name":null,"funder_award_id":"ZDYF2022GXJS348","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327827","display_name":"Key Research and Development Project of Hainan Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4406321546.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2021851106","https://openalex.org/W2073761981","https://openalex.org/W2096733369","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2780958801","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2951019013","https://openalex.org/W2963150697","https://openalex.org/W2963881378","https://openalex.org/W2985912973","https://openalex.org/W3010634486","https://openalex.org/W3018757597","https://openalex.org/W3021789557","https://openalex.org/W3036875645","https://openalex.org/W3043971245","https://openalex.org/W3128907125","https://openalex.org/W3138516171","https://openalex.org/W3154410890","https://openalex.org/W3183572076","https://openalex.org/W4210347174","https://openalex.org/W4285082283","https://openalex.org/W4289752563","https://openalex.org/W4311167006","https://openalex.org/W4312443924","https://openalex.org/W4312742569","https://openalex.org/W4315574209","https://openalex.org/W4379034660","https://openalex.org/W4386854423","https://openalex.org/W4392941341","https://openalex.org/W4392979783","https://openalex.org/W4395469266","https://openalex.org/W4399800811"],"related_works":["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","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"VSLAM":[0,24],"is":[1,124,185,192,215],"one":[2],"of":[3,30,44,130,133,164,172,197,275],"the":[4,14,28,91,100,114,118,128,137,155,162,170,177,180,209,219,247,255,269,272],"key":[5],"technologies":[6],"for":[7,83,194],"indoor":[8],"mobile":[9],"robots,":[10],"used":[11,193,216],"to":[12,49,65,88,112,126,208,217,223],"perceive":[13],"surrounding":[15],"environment,":[16],"achieve":[17],"accurate":[18],"positioning":[19,94],"and":[20,41,57,78,93,105,117,168,199,202,239,254],"mapping.":[21],"However,":[22],"traditional":[23],"algorithms":[25],"based":[26,153],"on":[27,154,234,262],"assumption":[29],"a":[31,72,79,147],"static":[32],"environment":[33],"still":[34],"face":[35],"certain":[36],"challenges.":[37],"The":[38,243],"movement,":[39],"occlusion,":[40],"appearance":[42],"changes":[43],"dynamic":[45,73,85,97,115,148,266],"objects":[46],"can":[47,228],"lead":[48],"feature":[50,74,195,210],"point-matching":[51],"errors,":[52],"making":[53],"data":[54],"association":[55],"difficult":[56],"causing":[58],"biases":[59],"in":[60,96,176,240,264],"motion":[61],"estimation.":[62],"In":[63,187,268],"order":[64],"address":[66],"this":[67,69,144,188],"challenge,":[68],"paper":[70,145],"proposes":[71,146],"point":[75],"removal":[76],"method":[77,82,123,152],"closed-loop":[80],"detection":[81,103,167,175,278],"high":[84],"scenes,":[86],"aiming":[87],"effectively":[89],"improve":[90],"robustness":[92],"accuracy":[95,274],"environments.":[98],"First,":[99],"YOLOv7-tiny":[101],"object":[102],"network":[104,191,201],"LK":[106],"optical":[107],"flow":[108],"algorithm":[109,184,245],"are":[110,206,232],"combined":[111],"detect":[113],"area,":[116],"adaptive":[119],"threshold":[120,140],"keyframe":[121,134,149],"selection":[122,141],"adopted":[125],"solve":[127],"problem":[129],"poor":[131],"quality":[132],"caused":[135],"by":[136,252,260,282],"existing":[138],"heuristic":[139],"method.":[142],"Then,":[143],"sequence":[150],"creation":[151],"angle":[156],"difference":[157],"between":[158],"keyframes,":[159],"which":[160],"reduces":[161,246],"workload":[163],"loop":[165,173,276],"back":[166,174],"accelerates":[169],"efficiency":[171],"system.":[178],"Next,":[179],"ParC_NetVLAD":[181],"image":[182],"matching":[183],"proposed.":[186],"paper,":[189],"ConvNeXt-Tiny":[190],"extraction":[196,211],"images,":[198],"ParC-Net":[200],"CBAM":[203],"attention":[204],"mechanism":[205],"added":[207],"network.":[212],"Finally,":[213],"NetVLAD":[214],"cluster":[218],"extracted":[220],"local":[221],"features":[222,226],"obtain":[224],"global":[225],"that":[227],"represent":[229],"images.":[230],"Experiments":[231],"conducted":[233],"public":[235],"TUM":[236],"RGB-D":[237],"datasets":[238],"real-world":[241],"situations.":[242],"proposed":[244],"ATE":[248],"(Absolute":[249],"Trajectory":[250,258],"Error)":[251,259],"96.4%":[253],"RPE":[256],"(Relative":[257],"82.8%":[261],"average":[263,273],"highly":[265],"scenarios.":[267],"Pittsburgh30k":[270],"dataset,":[271],"closure":[277],"has":[279],"been":[280],"improved":[281],"2.6%.":[283]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}