{"id":"https://openalex.org/W2896958749","doi":"https://doi.org/10.1145/3207677.3278061","title":"A RGB-D SLAM Algorithm Combining ORB Features and BOW","display_name":"A RGB-D SLAM Algorithm Combining ORB Features and BOW","publication_year":2018,"publication_date":"2018-10-18","ids":{"openalex":"https://openalex.org/W2896958749","doi":"https://doi.org/10.1145/3207677.3278061","mag":"2896958749"},"language":"en","primary_location":{"id":"doi:10.1145/3207677.3278061","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3207677.3278061","pdf_url":null,"source":{"id":"https://openalex.org/S4306523741","display_name":"Proceedings of the 2nd International Conference on Computer Science and Application Engineering","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2nd International Conference on Computer Science and Application Engineering","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/A5028138890","display_name":"Dong Pengfei","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pengfei Dong","raw_affiliation_strings":["College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059613392","display_name":"Xiaogang Ruan","orcid":"https://orcid.org/0000-0003-1728-0179"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Ruan","raw_affiliation_strings":["College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079589666","display_name":"Jing Huang","orcid":"https://orcid.org/0000-0001-5464-3990"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Huang","raw_affiliation_strings":["College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807648","display_name":"Xiaoqing Zhu","orcid":"https://orcid.org/0000-0002-3226-0099"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqing Zhu","raw_affiliation_strings":["College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765376","display_name":"Yao Xiao","orcid":"https://orcid.org/0000-0002-2764-8232"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Xiao","raw_affiliation_strings":["College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028138890"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":0.6069,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62176471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"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":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":0.998199999332428,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.8627080917358398},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8100579977035522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7778596878051758},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.762660801410675},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7601639628410339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7306361198425293},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.7094582915306091},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.533155083656311},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.52025306224823},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5185149908065796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4617012143135071},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.46087318658828735},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.421826034784317},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.347820907831192},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14123445749282837}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8627080917358398},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8100579977035522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7778596878051758},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.762660801410675},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7601639628410339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7306361198425293},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.7094582915306091},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.533155083656311},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.52025306224823},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5185149908065796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4617012143135071},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.46087318658828735},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.421826034784317},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.347820907831192},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14123445749282837},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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:10.1145/3207677.3278061","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3207677.3278061","pdf_url":null,"source":{"id":"https://openalex.org/S4306523741","display_name":"Proceedings of the 2nd International Conference on Computer Science and Application Engineering","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2nd International Conference on Computer Science and Application Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W2069479606","https://openalex.org/W2073660060","https://openalex.org/W2099940712","https://openalex.org/W2127911825","https://openalex.org/W2535547924","https://openalex.org/W2600643276","https://openalex.org/W2801199197","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W2912782527","https://openalex.org/W2002904063","https://openalex.org/W2559085038","https://openalex.org/W2184781617","https://openalex.org/W2724122122","https://openalex.org/W2410884360","https://openalex.org/W2032794652","https://openalex.org/W2613823046","https://openalex.org/W4251240031","https://openalex.org/W2888311149"],"abstract_inverted_index":{"With1":[0],"the":[1,21,37,64,73,89,99,110,115,118,129,133,135,138],"rapid":[2],"development":[3],"of":[4,17,23,42,66,72,114,132,137],"robots":[5,43],"and":[6,30,58,112,153],"UAVs,":[7],"navigation":[8,41],"has":[9],"become":[10],"a":[11,76],"very":[12],"important":[13],"topic.":[14],"The":[15,47],"combination":[16],"GPS+IMU":[18],"is":[19,33,86,125],"undoubtedly":[20],"standard":[22],"outdoor":[24],"navigation.":[25],"Indoor":[26],"navigation,":[27],"simultaneous":[28],"localization":[29],"mapping":[31],"(SLAM)":[32],"considered":[34],"to":[35,39,62,96,108,127,147],"be":[36],"key":[38],"autonomous":[40],"in":[44],"unknown":[45],"environments.":[46],"traditional":[48],"SLAM":[49,77],"algorithm":[50,78,95,124],"based":[51],"on":[52],"RGB-D":[53],"camera":[54,139,151],"adopts":[55],"SIFT":[56,67],"feature":[57,68,101],"needs":[59],"GPU":[60],"acceleration":[61],"overcome":[63],"drawback":[65],"extraction.":[69],"In":[70,117],"view":[71],"above":[74],"problems,":[75],"combining":[79],"ORB":[80,94],"features":[81],"with":[82,106],"closed":[83,121],"loop":[84,122],"detection":[85,123],"proposed.":[87],"At":[88],"front":[90],"end,":[91,120],"using":[92,143],"improved":[93],"speed":[97],"up":[98],"image":[100],"point":[102,154],"extraction,":[103],"combined":[104],"RANSAC":[105],"ICP":[107],"calculate":[109],"position":[111],"posture":[113],"camera.":[116],"back":[119],"proposed":[126],"eliminate":[128],"cumulative":[130],"error":[131],"robot,":[134],"pose":[136,152],"are":[140],"optimized":[141],"by":[142],"graph":[144],"optimization":[145],"tool":[146],"obtain":[148],"globally":[149],"consistent":[150],"cloud.":[155]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}