{"id":"https://openalex.org/W4386883423","doi":"https://doi.org/10.1109/rcar58764.2023.10249297","title":"RGBD Navigation: A 2D navigation framework for visual SLAM with pose compensation","display_name":"RGBD Navigation: A 2D navigation framework for visual SLAM with pose compensation","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883423","doi":"https://doi.org/10.1109/rcar58764.2023.10249297"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5100372506","display_name":"Teng Zhang","orcid":"https://orcid.org/0000-0002-5310-8766"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Zhang","raw_affiliation_strings":["Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399542","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0001-9321-3395"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008850130","display_name":"Fusheng Zha","orcid":"https://orcid.org/0000-0001-9695-1940"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Zha","raw_affiliation_strings":["Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416205","display_name":"Wei Guo","orcid":"https://orcid.org/0000-0003-0290-8752"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Guo","raw_affiliation_strings":["Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102985038","display_name":"Mantian Li","orcid":"https://orcid.org/0000-0003-4689-3484"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mantian Li","raw_affiliation_strings":["Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,The State Key Laboratory of Robotics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The State Key Laboratory of Robotics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5621,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89406117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"644","last_page":"649"},"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":0.9976000189781189,"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":0.9943000078201294,"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/computer-vision","display_name":"Computer vision","score":0.8135883808135986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7637684345245361},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7404786944389343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122991681098938},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6984312534332275},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.581835925579071},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5783563256263733},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5193020701408386},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5054419040679932},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.436087042093277},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4157506227493286},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.41025665402412415},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.10517716407775879}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8135883808135986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7637684345245361},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7404786944389343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122991681098938},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6984312534332275},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.581835925579071},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5783563256263733},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5193020701408386},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5054419040679932},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.436087042093277},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4157506227493286},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.41025665402412415},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.10517716407775879}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":11,"referenced_works":["https://openalex.org/W2118223742","https://openalex.org/W2130422193","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2898231767","https://openalex.org/W2950989657","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3124420883"],"related_works":["https://openalex.org/W2536504876","https://openalex.org/W2989564752","https://openalex.org/W3163880895","https://openalex.org/W2984070345","https://openalex.org/W3001939774","https://openalex.org/W321362102","https://openalex.org/W3161876898","https://openalex.org/W3130035014","https://openalex.org/W2107582550","https://openalex.org/W3097864550"],"abstract_inverted_index":{"The":[0],"breakthrough":[1],"in":[2],"SLAM(Simultaneous":[3],"Localization":[4,42],"and":[5,26,43,45,64,121,124,178],"Mapping)":[6,44],"technology":[7],"has":[8],"greatly":[9],"driven":[10],"the":[11,21,36,72,81,113,135,150,160,165,174,180],"development":[12,22,73],"of":[13,23,38,57,74,169,182],"robot":[14,157],"navigation.":[15],"Currently,":[16],"LiDAR":[17,24],"navigation":[18,28,62,76,100,186],"based":[19,111,148],"on":[20,112,149,159],"SLAM":[25],"ROS":[27,61,175],"stack":[29],"is":[30],"very":[31],"mature.":[32],"However,":[33],"due":[34],"to":[35,48,60,97,155,173],"inability":[37],"open-source":[39],"vSLAM(visual":[40],"Simultaneous":[41],"VO(Visual":[46],"Odometry)":[47],"establish":[49,143],"dense":[50,107],"maps":[51],"suitable":[52],"for":[53,101],"navigation,":[54],"poor":[55],"adaptability":[56],"visual":[58,75,170],"information":[59,115],"stack,":[63,177],"map":[65,110],"positioning":[66,146,158],"problems":[67,168],"caused":[68],"by":[69,117,153],"sensor":[70,171],"characteristics,":[71],"faces":[77],"difficulties.":[78],"To":[79],"address":[80],"above":[82],"three":[83,166],"issues,":[84],"this":[85],"work":[86],"provides":[87],"a":[88,106,128,144,183],"framework":[89,104,163],"called":[90],"RGBD":[91,95],"Navigation,":[92],"which":[93],"utilizes":[94],"sensors":[96],"achieve":[98,156],"vision-based":[99,184],"robots.":[102],"This":[103,162],"establishes":[105],"point":[108],"cloud":[109],"pose":[114,151],"provided":[116,152],"vSLAM/VO,":[118],"depth":[119,136],"images":[120],"RGB":[122],"images,":[123],"converts":[125],"it":[126],"into":[127,138],"2D":[129,185],"occupancy":[130],"grid":[131],"map.":[132,161],"And,":[133],"convert":[134],"image":[137],"two-dimensional":[139],"laserscan":[140],"information.":[141],"Finally,":[142],"\"map-to-odom\"":[145],"node":[147],"SLAM/VO":[154],"solves":[164],"main":[167],"adaptation":[172],"Navigation":[176],"achieves":[179],"establishment":[181],"system.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
