{"id":"https://openalex.org/W2588455418","doi":"https://doi.org/10.1109/cisp-bmei.2016.7852872","title":"Research and implementation of 3D SLAM algorithm based on Kinect depth sensor","display_name":"Research and implementation of 3D SLAM algorithm based on Kinect depth sensor","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2588455418","doi":"https://doi.org/10.1109/cisp-bmei.2016.7852872","mag":"2588455418"},"language":"en","primary_location":{"id":"doi:10.1109/cisp-bmei.2016.7852872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei.2016.7852872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","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/A5029512731","display_name":"Ce Li","orcid":"https://orcid.org/0000-0002-4627-6112"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ce Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017600565","display_name":"Haozuo Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haozuo Wei","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101523732","display_name":"Tian Lan","orcid":"https://orcid.org/0000-0002-2811-2261"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Lan","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029512731"],"corresponding_institution_ids":["https://openalex.org/I22716506"],"apc_list":null,"apc_paid":null,"fwci":3.0523,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92267126,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"110","issue":null,"first_page":"1070","last_page":"1074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.7915898561477661},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7817944884300232},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7794869542121887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7318189740180969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6728365421295166},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6343212127685547},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6267441511154175},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5739480257034302},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5400269031524658},{"id":"https://openalex.org/keywords/blossom-algorithm","display_name":"Blossom algorithm","score":0.4920579791069031},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42886561155319214},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.42801228165626526},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3594915270805359},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3335922658443451},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18351241946220398},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.1504543423652649}],"concepts":[{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.7915898561477661},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7817944884300232},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7794869542121887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7318189740180969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6728365421295166},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6343212127685547},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6267441511154175},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5739480257034302},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5400269031524658},{"id":"https://openalex.org/C61455927","wikidata":"https://www.wikidata.org/wiki/Q1030529","display_name":"Blossom algorithm","level":3,"score":0.4920579791069031},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42886561155319214},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.42801228165626526},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3594915270805359},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3335922658443451},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18351241946220398},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.1504543423652649},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/cisp-bmei.2016.7852872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei.2016.7852872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1445737421","https://openalex.org/W1562190558","https://openalex.org/W1677409904","https://openalex.org/W1972671602","https://openalex.org/W1984475609","https://openalex.org/W2023200581","https://openalex.org/W2049981393","https://openalex.org/W2117228865","https://openalex.org/W2163522917"],"related_works":["https://openalex.org/W1532254823","https://openalex.org/W2091861768","https://openalex.org/W2509097639","https://openalex.org/W2089890195","https://openalex.org/W2556215627","https://openalex.org/W2162359940","https://openalex.org/W2364339999","https://openalex.org/W3048240333","https://openalex.org/W2072576907","https://openalex.org/W2074979281"],"abstract_inverted_index":{"For":[0],"the":[1,34,56,63,72,79,84,89,94,103,110,114,121,129,134],"3D":[2,17,111],"perception":[3],"problem":[4],"of":[5,28,66,113,123,133],"mobile":[6],"robots":[7,35],"in":[8],"unknown":[9],"indoor":[10,115],"environments,":[11],"a":[12,20],"practical":[13],"approach":[14],"to":[15,43,61,77,101],"building":[16],"maps":[18],"using":[19,88],"low-cost":[21],"Kinect":[22],"sensor":[23],"is":[24,41,117],"proposed.":[25],"Successive":[26],"frames":[27],"RGB-D":[29],"information":[30],"are":[31,98],"captured":[32],"during":[33],"movements.":[36],"First,":[37],"SIFT(Scale-invariant":[38],"Feature":[39],"Transform)detector":[40],"applied":[42],"color":[44],"images":[45],"for":[46],"extracting":[47],"and":[48,70,106,131],"matching":[49,68],"stable":[50],"feature":[51],"points.":[52],"Then,":[53],"combined":[54],"with":[55],"GTM(Graph":[57],"Transformation":[58],"Matching)":[59],"algorithm":[60],"eliminate":[62],"possible":[64],"existence":[65],"false":[67],"points":[69],"complete":[71],"initial":[73],"registration,":[74],"so":[75],"as":[76],"estimate":[78],"rough":[80],"relative":[81],"transfer":[82],"between":[83],"image":[85],"frames.":[86],"Finally,":[87],"ICP(Iterative":[90],"Closest":[91],"Point)":[92],"algorithm,":[93],"robot's":[95],"motion":[96],"parameters":[97],"continuously":[99],"updated":[100],"update":[102],"robot":[104],"posture,":[105],"based":[107,119],"on":[108,120],"this,":[109],"map":[112],"environment":[116],"created":[118],"combination":[122],"depth":[124],"information.":[125],"Experimental":[126],"results":[127],"validate":[128],"feasibility":[130],"effectiveness":[132],"approach.":[135]},"counts_by_year":[{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
