{"id":"https://openalex.org/W3139270484","doi":"https://doi.org/10.1109/tro.2021.3058502","title":"Multirobot Collaborative Monocular SLAM Utilizing Rendezvous","display_name":"Multirobot Collaborative Monocular SLAM Utilizing Rendezvous","publication_year":2021,"publication_date":"2021-03-19","ids":{"openalex":"https://openalex.org/W3139270484","doi":"https://doi.org/10.1109/tro.2021.3058502","mag":"3139270484"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3058502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3058502","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5078908386","display_name":"Youngseok Jang","orcid":"https://orcid.org/0000-0002-6833-8986"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngseok Jang","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6833-8986","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030976284","display_name":"Changsuk Oh","orcid":"https://orcid.org/0000-0002-7665-0451"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changsuk Oh","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7665-0451","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050849321","display_name":"Yun-Woo Lee","orcid":"https://orcid.org/0000-0001-8761-4344"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yunwoo Lee","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8761-4344","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6819-1136","affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":39.5011,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99592105,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"37","issue":"5","first_page":"1469","last_page":"1486"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/rendezvous","display_name":"Rendezvous","score":0.8165093660354614},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7511880397796631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7502810955047607},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7142439484596252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7001245021820068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5694091320037842},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.514805257320404},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.48485812544822693},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4263719916343689},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34295761585235596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2247178554534912}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.8165093660354614},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7511880397796631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7502810955047607},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7142439484596252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7001245021820068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5694091320037842},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.514805257320404},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.48485812544822693},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4263719916343689},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34295761585235596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2247178554534912},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3058502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3058502","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7426400328","display_name":null,"funder_award_id":"202013D05","funder_id":"https://openalex.org/F4320322014","funder_display_name":"Ministry of Food and Drug Safety"}],"funders":[{"id":"https://openalex.org/F4320322014","display_name":"Ministry of Food and Drug Safety","ror":"https://ror.org/01f7dp456"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1536078990","https://openalex.org/W1565206031","https://openalex.org/W1574773379","https://openalex.org/W1583132079","https://openalex.org/W1974222962","https://openalex.org/W1989838848","https://openalex.org/W2000462596","https://openalex.org/W2011897632","https://openalex.org/W2012252652","https://openalex.org/W2037971631","https://openalex.org/W2046918204","https://openalex.org/W2076917298","https://openalex.org/W2090219750","https://openalex.org/W2108134361","https://openalex.org/W2135406823","https://openalex.org/W2138400911","https://openalex.org/W2146110276","https://openalex.org/W2151290401","https://openalex.org/W2157503093","https://openalex.org/W2168110171","https://openalex.org/W2204575239","https://openalex.org/W2474281075","https://openalex.org/W2512260491","https://openalex.org/W2530312297","https://openalex.org/W2535547924","https://openalex.org/W2564085365","https://openalex.org/W2600680942","https://openalex.org/W2611940445","https://openalex.org/W2620629206","https://openalex.org/W2737461663","https://openalex.org/W2809051097","https://openalex.org/W2906636743","https://openalex.org/W2951019013","https://openalex.org/W2963479576","https://openalex.org/W2973794469","https://openalex.org/W3090291521","https://openalex.org/W3102327032","https://openalex.org/W3110496494","https://openalex.org/W4230504900","https://openalex.org/W4241431727","https://openalex.org/W6618872416","https://openalex.org/W6653413292","https://openalex.org/W6783517913"],"related_works":["https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W2012743301","https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2163016745","https://openalex.org/W3112995165"],"abstract_inverted_index":{"Multirobot":[0],"simultaneous":[1],"localization":[2],"and":[3,17,198,256,258],"mapping":[4],"(SLAM)":[5],"requires":[6],"technical":[7],"ingredients":[8],"such":[9],"as":[10,147],"systematic":[11],"construction":[12],"of":[13,19,32,49,74,172,191,262],"multiple":[14,37,50,66],"SLAM":[15,34,90,151,251],"systems":[16,152],"collection":[18],"information":[20],"from":[21,188,208,215],"each":[22],"robot.":[23],"In":[24],"particular,":[25],"map":[26,93,201,207,268],"fusion":[27,94,202],"is":[28,53,78],"an":[29],"essential":[30],"process":[31],"multirobot":[33,103],"that":[35,59,96,114,180,204,247],"combines":[36],"local":[38,51,260],"maps":[39,52,214,261],"estimated":[40],"by":[41,65,237],"team":[42,77,104,141,263],"robots":[43,163,187,218,264],"into":[44,265],"a":[45,72,75,87,92,122,165,176,200,266],"global":[46,267],"map.":[47],"Fusion":[48],"usually":[54],"based":[55],"on":[56],"interloop":[57],"detection":[58],"recognizes":[60,253],"the":[61,118,173,182,206,209,213,216,231],"same":[62],"scene":[63],"visited":[64],"robots,":[67],"or":[68],"robot":[69,76,130,211],"rendezvous":[70,131,166,254],"where":[71],"member(s)":[73],"observed":[79,217],"in":[80,107,149,164],"another":[81],"member's":[82],"images.":[83],"This":[84],"article":[85],"proposes":[86],"collaborative":[88,249],"monocular":[89,123,250],"including":[91],"algorithm":[95,235],"utilizes":[97],"rendezvous,":[98],"which":[99,144],"can":[100,128,157,227],"happen":[101],"when":[102],"members":[105],"operate":[106,228],"close":[108],"proximity.":[109],"Unlike":[110],"existing":[111],"rendezvous-based":[112],"approaches":[113],"require":[115],"additional":[116],"sensors,":[117],"proposed":[119,169,232],"system":[120,127,252],"uses":[121],"camera":[124],"only.":[125],"Our":[126],"recognize":[129],"using":[132,219,230],"nonstatic":[133],"features":[134],"(NSFs)":[135],"without":[136],"fiducial":[137],"markers":[138],"to":[139],"identify":[140],"robots.":[142],"NSFs,":[143],"are":[145],"abandoned":[146],"outliers":[148],"typical":[150],"for":[153],"not":[154],"supporting":[155],"ego-motion,":[156],"include":[158],"relative":[159,183,221],"bearing":[160,184,193],"measurements":[161,185],"between":[162,186],"situation.":[167],"The":[168,223,243],"pipeline":[170],"consists":[171],"following:":[174],"first,":[175],"feature":[177,224],"identification":[178,225],"module":[179,203,226],"extracts":[181],"NSFs":[189],"consisting":[190],"anonymous":[192],"vectors":[194],"with":[195,212,240],"false":[196],"positives,":[197],"second,":[199],"integrates":[205],"observer":[210],"identified":[220],"measurements.":[222],"quickly":[229],"alternating":[233],"minimization":[234],"formulated":[236],"two":[238],"subproblems":[239],"closed-form":[241],"solutions.":[242],"experimental":[244],"results":[245],"confirm":[246],"our":[248],"rapidly":[255],"robustly,":[257],"fuses":[259],"accurately.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
