{"id":"https://openalex.org/W2942395934","doi":"https://doi.org/10.1109/tmm.2019.2913324","title":"Real-Time Visual\u2013Inertial SLAM Based on Adaptive Keyframe Selection for Mobile AR Applications","display_name":"Real-Time Visual\u2013Inertial SLAM Based on Adaptive Keyframe Selection for Mobile AR Applications","publication_year":2019,"publication_date":"2019-04-25","ids":{"openalex":"https://openalex.org/W2942395934","doi":"https://doi.org/10.1109/tmm.2019.2913324","mag":"2942395934"},"language":"en","primary_location":{"id":"doi:10.1109/tmm.2019.2913324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2019.2913324","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","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/A5000357449","display_name":"Jin-Chun Piao","orcid":"https://orcid.org/0000-0003-1151-6814"},"institutions":[{"id":"https://openalex.org/I1334884943","display_name":"Yanbian University of Science and Technology","ror":"https://ror.org/032se3k78","country_code":"CN","type":"education","lineage":["https://openalex.org/I1334884943"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jin-Chun Piao","raw_affiliation_strings":["Department of Computer Science and Technology, Yanbian University, Yanji, China"],"raw_orcid":"https://orcid.org/0000-0003-1151-6814","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Yanbian University, Yanji, China","institution_ids":["https://openalex.org/I1334884943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032646530","display_name":"Shin\u2010Dug Kim","orcid":"https://orcid.org/0000-0002-2642-6662"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Shin-Dug Kim","raw_affiliation_strings":["Department of Computer Science, Yonsei University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2642-6662","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000357449"],"corresponding_institution_ids":["https://openalex.org/I1334884943"],"apc_list":null,"apc_paid":null,"fwci":62.4945,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.99749205,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"21","issue":"11","first_page":"2827","last_page":"2836"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8462235927581787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.737429678440094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.725436270236969},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6501258611679077},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.6059923768043518},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5981118679046631},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5693625807762146},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5493584871292114},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.516488790512085},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5084549188613892},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49289965629577637},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4582052230834961},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.42994236946105957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3268641531467438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30147653818130493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8462235927581787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.737429678440094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.725436270236969},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6501258611679077},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.6059923768043518},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5981118679046631},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5693625807762146},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5493584871292114},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.516488790512085},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5084549188613892},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49289965629577637},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4582052230834961},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.42994236946105957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3268641531467438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30147653818130493},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tmm.2019.2913324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2019.2913324","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W166817922","https://openalex.org/W1612997784","https://openalex.org/W1927504425","https://openalex.org/W1979843398","https://openalex.org/W1993267444","https://openalex.org/W1998058414","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2049750053","https://openalex.org/W2071733997","https://openalex.org/W2078841894","https://openalex.org/W2091790851","https://openalex.org/W2102148524","https://openalex.org/W2118877769","https://openalex.org/W2130103520","https://openalex.org/W2146881125","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2522742050","https://openalex.org/W2586572282","https://openalex.org/W2606794968","https://openalex.org/W2745859992","https://openalex.org/W2767552815","https://openalex.org/W2963288928","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W3144404684","https://openalex.org/W6677548441","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,19,31,77,99,120,139,149,177],"mapping":[3],"(SLAM)":[4],"technology":[5],"is":[6,59,101,109,169,181,199],"used":[7,89],"in":[8,145],"many":[9],"applications,":[10,24],"such":[11],"as":[12],"augmented":[13],"reality":[14],"(AR)/virtual":[15],"reality,":[16],"robots,":[17],"drones,":[18],"self-driving":[20],"vehicles.":[21],"In":[22,36],"AR":[23,53],"rapid":[25],"camera":[26],"motion":[27,93],"estimation,":[28],"actual":[29],"size,":[30],"scale":[32,175,179],"are":[33,88,129],"important":[34],"issues.":[35],"this":[37],"research,":[38],"we":[39],"introduce":[40],"a":[41,110,127,132,146],"real-time":[42,140],"visual-inertial":[43,67,80,134],"SLAM":[44,57],"based":[45,61,117],"on":[46,62,118],"an":[47,113],"adaptive":[48,64,73,114],"keyframe":[49,65,74,111,167],"selection":[50,66,75,115],"for":[51,137],"mobile":[52,193],"applications.":[54],"Specifically,":[55],"the":[56,63,72,78,92,96,106,160,166,173,178,184,188,192,197,204],"system":[58],"designed":[60],"odometry":[68,81,135],"method":[69,76,116,136],"that":[70,159,196],"includes":[71],"lightweight":[79,133],"method.":[82,206],"The":[83,155],"inertial":[84],"measurement":[85],"unit":[86],"data":[87],"to":[90],"predict":[91],"state":[94],"of":[95,165,191],"current":[97,107],"frame":[98,108],"it":[100,144,151],"judged":[102],"whether":[103],"or":[104],"not":[105],"by":[112,201],"learning":[119],"automatic":[121],"setting.":[122],"Relatively":[123],"unimportant":[124],"frames":[125],"(not":[126],"keyframe)":[128],"processed":[130],"using":[131,203],"efficiency":[138],"performance.":[141],"We":[142],"simulate":[143],"PC":[147],"environment":[148],"compare":[150],"with":[152,183],"state-of-the-art":[153],"methods.":[154],"experimental":[156,189],"results":[157,190],"demonstrate":[158],"mean":[161],"translation":[162],"root-mean-square":[163],"error":[164,180],"trajectory":[168],"0.067":[170],"m":[171],"without":[172],"ground-truth":[174],"matching,":[176],"0.58%":[182],"EuRoC":[185],"dataset.":[186],"Moreover,":[187],"device":[194],"show":[195],"performance":[198],"improved":[200],"34.5%-53.8%":[202],"proposed":[205]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}