{"id":"https://openalex.org/W3109157125","doi":"https://doi.org/10.1109/cisp-bmei51763.2020.9263661","title":"An improved SLAM algorithm based on feature contour extraction for camera pose estimation","display_name":"An improved SLAM algorithm based on feature contour extraction for camera pose estimation","publication_year":2020,"publication_date":"2020-10-17","ids":{"openalex":"https://openalex.org/W3109157125","doi":"https://doi.org/10.1109/cisp-bmei51763.2020.9263661","mag":"3109157125"},"language":"en","primary_location":{"id":"doi:10.1109/cisp-bmei51763.2020.9263661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei51763.2020.9263661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 13th 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/A5100409967","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0002-4947-7219"},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I187400657"]},{"raw_affiliation_string":"School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China","institution_ids":["https://openalex.org/I187400657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053265012","display_name":"Kengdong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kengdong Lu","raw_affiliation_strings":["South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I187400657"]},{"raw_affiliation_string":"School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China","institution_ids":["https://openalex.org/I187400657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065122816","display_name":"Kaiqing Luo","orcid":"https://orcid.org/0000-0002-6278-0917"},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiqing Luo","raw_affiliation_strings":["South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China Normal University,School of Physics and Telecommunication Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I187400657"]},{"raw_affiliation_string":"School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou, China","institution_ids":["https://openalex.org/I187400657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100409967"],"corresponding_institution_ids":["https://openalex.org/I187400657"],"apc_list":null,"apc_paid":null,"fwci":1.3806,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84897548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"738","issue":null,"first_page":"153","last_page":"157"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980999827384949,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7585082054138184},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7356455326080322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7012085914611816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.646149754524231},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6233067512512207},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6141564846038818},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5627831816673279},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5083550810813904},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4897158443927765},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.48226839303970337},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3795025944709778},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3628631830215454},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2398201823234558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2010108232498169},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15645018219947815}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7585082054138184},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7356455326080322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7012085914611816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.646149754524231},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6233067512512207},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6141564846038818},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5627831816673279},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5083550810813904},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4897158443927765},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.48226839303970337},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3795025944709778},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3628631830215454},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2398201823234558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2010108232498169},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15645018219947815},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cisp-bmei51763.2020.9263661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei51763.2020.9263661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 13th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W988466463","https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W2038302853","https://openalex.org/W2065429801","https://openalex.org/W2117228865","https://openalex.org/W2129201358","https://openalex.org/W2146881125","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2164598857","https://openalex.org/W2278648135","https://openalex.org/W2535547924","https://openalex.org/W2752239616","https://openalex.org/W2766813075","https://openalex.org/W2791800493","https://openalex.org/W2791846047","https://openalex.org/W2796981934","https://openalex.org/W2797009285","https://openalex.org/W2801168729","https://openalex.org/W2884975697","https://openalex.org/W2885714371","https://openalex.org/W2919822432","https://openalex.org/W2941020577","https://openalex.org/W2963409771","https://openalex.org/W3004808442","https://openalex.org/W3017360624","https://openalex.org/W3021941911","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W4255788542","https://openalex.org/W6631707545"],"related_works":["https://openalex.org/W2387055199","https://openalex.org/W2313061941","https://openalex.org/W1003800352","https://openalex.org/W1953485902","https://openalex.org/W2588661485","https://openalex.org/W2052546562","https://openalex.org/W2605640648","https://openalex.org/W3175896399","https://openalex.org/W2126198268","https://openalex.org/W4250745116"],"abstract_inverted_index":{"Camera":[0],"position":[1],"and":[2,13,22,44,57,116,132],"attitude":[3],"estimation":[4,33,61,94,109,147],"is":[5,16,34,62,75,95],"an":[6],"important":[7],"part":[8],"of":[9,24,103,145],"SLAM":[10,28,84],"(Simultaneous":[11],"Locolization":[12],"Mapping),":[14],"which":[15],"directly":[17],"related":[18],"to":[19,67],"the":[20,41,58,69,72,78,101,106,113,117,126,129,133],"accuracy":[21,144],"efficiency":[23],"SLAM.":[25],"The":[26,139],"traditional":[27,79,127,149],"algorithm":[29,85,115,141],"for":[30,91],"camera":[31,59,92,107],"pose":[32,60,93,108,146],"based":[35,86,111],"on":[36,87,112],"feature":[37,53,73,88],"points.":[38],"However,":[39],"when":[40],"environmental":[42],"brightness":[43],"contrast":[45],"change":[46],"too":[47],"much,":[48],"there":[49],"will":[50],"be":[51],"many":[52],"points":[54],"matching":[55],"errors":[56],"not":[63],"accurate.":[64],"In":[65],"order":[66],"solve":[68],"above":[70],"problems,":[71],"contour":[74,89],"extracted":[76],"before":[77],"algorithm.":[80],"Therefore,":[81],"An":[82],"improved":[83,114,140],"extraction":[90],"proposed.":[96],"Experimental":[97],"results":[98],"show":[99],"that":[100],"degree":[102,131],"error":[104,130,134],"between":[105,121],"result":[110,119],"actual":[118],"fluctuates":[120],"0.1-2":[122],"degrees.":[123],"Compared":[124],"with":[125],"algorithm,":[128],"fluctuation":[135],"range":[136],"are":[137],"small.":[138],"has":[142],"higher":[143],"than":[148],"algorithms.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}