{"id":"https://openalex.org/W4407168458","doi":"https://doi.org/10.1109/tro.2025.3539171","title":"AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System","display_name":"AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407168458","doi":"https://doi.org/10.1109/tro.2025.3539171"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3539171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3539171","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/A5100576907","display_name":"Kuan Xu","orcid":"https://orcid.org/0000-0003-1884-276X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kuan Xu","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1884-276X","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051568982","display_name":"Yuefan Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuefan Hao","raw_affiliation_strings":["Spatial AI and Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","Spatial AI &amp; Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spatial AI and Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]},{"raw_affiliation_string":"Spatial AI &amp; Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-1887-6342","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337582","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4630-0805"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Spatial AI and Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","Spatial AI &amp; Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-4630-0805","affiliations":[{"raw_affiliation_string":"Spatial AI and Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]},{"raw_affiliation_string":"Spatial AI &amp; Robotics Lab, Computer Science and Engineering, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":200.9483,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.99995954,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"1673","last_page":"1692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9894999861717224,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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-vision","display_name":"Computer vision","score":0.7608474493026733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7104024887084961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6198702454566956},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5799959301948547},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5133671164512634},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.47987642884254456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2702738642692566},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.226538747549057},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22626063227653503},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07274562120437622}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7608474493026733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7104024887084961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6198702454566956},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5799959301948547},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5133671164512634},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.47987642884254456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2702738642692566},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.226538747549057},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22626063227653503},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07274562120437622}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3539171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3539171","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":104,"referenced_works":["https://openalex.org/W135449821","https://openalex.org/W1498183729","https://openalex.org/W1612997784","https://openalex.org/W1901129140","https://openalex.org/W1989484209","https://openalex.org/W2008849352","https://openalex.org/W2011772686","https://openalex.org/W2013270301","https://openalex.org/W2021278996","https://openalex.org/W2057488855","https://openalex.org/W2067936826","https://openalex.org/W2073761981","https://openalex.org/W2117228865","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2153054365","https://openalex.org/W2156953558","https://openalex.org/W2320444803","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2560311404","https://openalex.org/W2612112834","https://openalex.org/W2738259787","https://openalex.org/W2745859992","https://openalex.org/W2765811365","https://openalex.org/W2796916234","https://openalex.org/W2798943056","https://openalex.org/W2898231767","https://openalex.org/W2898781364","https://openalex.org/W2945780757","https://openalex.org/W2951019013","https://openalex.org/W2953809838","https://openalex.org/W2960033181","https://openalex.org/W2962705366","https://openalex.org/W2963121367","https://openalex.org/W2963200201","https://openalex.org/W2963210849","https://openalex.org/W2963218091","https://openalex.org/W2967494572","https://openalex.org/W2973665503","https://openalex.org/W2979458572","https://openalex.org/W2981415272","https://openalex.org/W2990519439","https://openalex.org/W2995890703","https://openalex.org/W2997495511","https://openalex.org/W3004008537","https://openalex.org/W3004359000","https://openalex.org/W3034275286","https://openalex.org/W3041143809","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3090386798","https://openalex.org/W3091667825","https://openalex.org/W3093386634","https://openalex.org/W3094045556","https://openalex.org/W3095367607","https://openalex.org/W3104213423","https://openalex.org/W3110514869","https://openalex.org/W3131599118","https://openalex.org/W3131673036","https://openalex.org/W3132270109","https://openalex.org/W3148176530","https://openalex.org/W3155554509","https://openalex.org/W3167259153","https://openalex.org/W3181825824","https://openalex.org/W3186564193","https://openalex.org/W3211138779","https://openalex.org/W4200137979","https://openalex.org/W4211154833","https://openalex.org/W4214568521","https://openalex.org/W4226236972","https://openalex.org/W4226391002","https://openalex.org/W4230766380","https://openalex.org/W4280641067","https://openalex.org/W4283025710","https://openalex.org/W4285102352","https://openalex.org/W4293057873","https://openalex.org/W4312629830","https://openalex.org/W4320919242","https://openalex.org/W4383108801","https://openalex.org/W4385236045","https://openalex.org/W4386071582","https://openalex.org/W4386075697","https://openalex.org/W4386083120","https://openalex.org/W4386495257","https://openalex.org/W4389665490","https://openalex.org/W4389668085","https://openalex.org/W4389819300","https://openalex.org/W4390872200","https://openalex.org/W4390872507","https://openalex.org/W4392693641","https://openalex.org/W4401416480","https://openalex.org/W6631190155","https://openalex.org/W6759044285","https://openalex.org/W6770485707","https://openalex.org/W6780053115","https://openalex.org/W6785114638","https://openalex.org/W6800540912","https://openalex.org/W6851425394","https://openalex.org/W6853497421","https://openalex.org/W6859613362"],"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":{"In":[0,72],"this":[1],"article,":[2],"we":[3,45,74,113],"present":[4],"an":[5,172],"efficient":[6],"visual":[7,141],"simultaneous":[8],"localization":[9],"and":[10,19,37,56,66,88,115,120,125,166],"mapping":[11],"(SLAM)":[12],"system":[13,24,109,137,152],"designed":[14],"to":[15,94,110],"tackle":[16],"both":[17],"short-term":[18],"long-term":[20],"illumination":[21],"challenges.":[22],"Our":[23],"adopts":[25],"a":[26,47,69,76,89,156,164],"hybrid":[27],"approach":[28],"that":[29,52,80,135,150],"combines":[30],"deep":[31],"learning":[32],"techniques":[33],"for":[34],"feature":[35,118],"detection":[36,119],"matching":[38,121],"with":[39,99],"traditional":[40],"back-end":[41],"optimization":[42],"methods.":[43],"Specifically,":[44],"propose":[46],"unified":[48],"convolutional":[49],"neural":[50],"network":[51],"simultaneously":[53],"extracts":[54],"keypoints":[55],"structural":[57],"lines.":[58],"These":[59],"features":[60],"are":[61,92],"then":[62],"associated,":[63],"matched,":[64],"triangulated,":[65],"optimized":[67],"in":[68,144],"coupled":[70],"manner.":[71],"addition,":[73],"introduce":[75],"lightweight":[77],"relocalization":[78],"pipeline":[79],"reuses":[81],"the":[82,96,100,104,107,117],"built":[83],"map,":[84],"where":[85],"keypoints,":[86],"lines,":[87],"structure":[90],"graph":[91],"used":[93],"match":[95],"query":[97],"frame":[98],"map.":[101],"To":[102],"enhance":[103],"applicability":[105],"of":[106,158],"proposed":[108],"real-world":[111],"robots,":[112],"deploy":[114],"accelerate":[116],"networks":[122],"using":[123],"C++":[124],"NVIDIA":[126],"TensorRT.":[127],"Extensive":[128],"experiments":[129],"conducted":[130],"on":[131,163,171],"various":[132],"datasets":[133],"demonstrate":[134],"our":[136,151],"outperforms":[138],"other":[139],"state-of-the-art":[140],"SLAM":[142],"systems":[143],"illumination-challenging":[145],"environments.":[146],"Efficiency":[147],"evaluations":[148],"show":[149],"can":[153],"run":[154],"at":[155],"rate":[157],"<inline-formula":[159,167],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[160,168],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[161,169],"notation=\"LaTeX\">$73\\,\\mathrm{Hz}$</tex-math></inline-formula>":[162],"PC":[165],"notation=\"LaTeX\">$40\\,\\mathrm{Hz}$</tex-math></inline-formula>":[170],"embedded":[173],"platform.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":49}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}