{"id":"https://openalex.org/W7154471478","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468416","title":"RaftNR-SLAM: A Non-Rigid SLAM System Based on RAFT Optical Flow Estimation","display_name":"RaftNR-SLAM: A Non-Rigid SLAM System Based on RAFT Optical Flow Estimation","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W7154471478","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468416"},"language":null,"primary_location":{"id":"doi:10.1109/upinlbs68186.2025.11468416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-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/A5082804111","display_name":"Xingyu Qian","orcid":"https://orcid.org/0000-0003-2068-9522"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Qian","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035198958","display_name":"Hainan Cui","orcid":"https://orcid.org/0000-0003-1840-9261"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hainan Cui","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5133712777","display_name":"Shuhan Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuhan Shen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.90736085,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7190999984741211,"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":0.7190999984741211,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.21060000360012054,"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/T10868","display_name":"Soft Robotics and Applications","score":0.010499999858438969,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/control-theory","display_name":"Control theory (sociology)","score":0.34450000524520874},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.3176000118255615},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.3122999966144562},{"id":"https://openalex.org/keywords/raft","display_name":"Raft","score":0.2992999851703644},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.27649998664855957}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41519999504089355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3783999979496002},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34450000524520874},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.3176000118255615},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.3122999966144562},{"id":"https://openalex.org/C9132879","wikidata":"https://www.wikidata.org/wiki/Q17100313","display_name":"Raft","level":4,"score":0.2992999851703644},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2443999946117401},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.24369999766349792}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/upinlbs68186.2025.11468416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4214828610420227,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6997495980","display_name":null,"funder_award_id":"2023YFB3906600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Monocular":[0],"deformable":[1,148],"visual":[2],"simultaneous":[3],"localization":[4],"and":[5,23,29,44,64,91,116,120,155,165],"mapping":[6],"(V-SLAM)":[7],"is":[8,73],"increasingly":[9],"used":[10],"in":[11,33,131,151],"minimally":[12],"invasive":[13],"surgery":[14],"(MIS)":[15],"endoscopic":[16,36],"systems":[17,150],"to":[18,61,105],"provide":[19,113],"dense":[20],"3D":[21],"reconstruction":[22,66,153],"robust":[24,115],"camera":[25],"tracking":[26,62,130,156],"for":[27,87,161],"navigation":[28],"intra-operative":[30],"guidance.":[31],"However,":[32],"complex":[34],"dynamic":[35,108],"scenes":[37],"with":[38],"strong":[39],"soft-tissue":[40],"deformation,":[41],"weak":[42],"textures,":[43],"specular":[45],"highlights,":[46],"conventional":[47],"methods":[48],"that":[49,81,142],"rely":[50],"on":[51,137],"traditional":[52],"sparse":[53],"optical":[54,85],"flow":[55,86],"often":[56],"yield":[57],"unreliable":[58],"correspondences,":[59],"leading":[60],"failures":[63],"degraded":[65],"accuracy.":[67],"To":[68],"address":[69],"these":[70],"challenges,":[71],"RaftNR-SLAM":[72,143],"proposed":[74],"as":[75],"a":[76],"non-rigid":[77,134],"monocular":[78,147],"V-SLAM":[79,149],"framework":[80],"integrates":[82],"deep-learning-based":[83],"RAFT":[84],"short-term":[88],"data":[89],"association":[90],"introduces":[92],"an":[93],"adaptive":[94],"thresholding":[95],"strategy,":[96],"driven":[97],"by":[98],"the":[99,107],"motion":[100],"patterns":[101],"of":[102],"map":[103,126],"points,":[104,127],"manage":[106],"deformation":[109],"graph.":[110],"These":[111],"designs":[112],"more":[114,122],"accurate":[117],"correspondence":[118],"information":[119],"enable":[121],"coherent":[123],"regularization":[124],"between":[125],"thereby":[128],"stabilizing":[129],"highly":[132],"dynamic,":[133],"environments.":[135],"Experiments":[136],"multiple":[138],"medical":[139,163],"datasets":[140],"show":[141],"consistently":[144],"outperforms":[145],"existing":[146],"both":[152],"accuracy":[154],"stability,":[157],"indicating":[158],"its":[159],"potential":[160],"advancing":[162],"automation":[164],"image-guided":[166],"interventions.":[167]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-16T00:00:00"}
