{"id":"https://openalex.org/W4281670105","doi":"https://doi.org/10.1145/3529466.3529473","title":"Hard-Lite SLAM: A Hybrid Detector Based Real-Time SLAM System","display_name":"Hard-Lite SLAM: A Hybrid Detector Based Real-Time SLAM System","publication_year":2022,"publication_date":"2022-03-04","ids":{"openalex":"https://openalex.org/W4281670105","doi":"https://doi.org/10.1145/3529466.3529473"},"language":"en","primary_location":{"id":"doi:10.1145/3529466.3529473","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3529466.3529473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 the 6th International Conference on Innovation in Artificial Intelligence (ICIAI)","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/A5008025566","display_name":"Chengying Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengying Cai","raw_affiliation_strings":["School of Electronic Engineering, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054785818","display_name":"Jichao Jiao","orcid":"https://orcid.org/0000-0002-1200-5525"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jichao Jiao","raw_affiliation_strings":["School of Electronic Engineering, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101982132","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-3491-8923"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["China Research Institute of Radiowave Propagation, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Research Institute of Radiowave Propagation, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066685261","display_name":"Min Pang","orcid":"https://orcid.org/0000-0002-2416-2405"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Pang","raw_affiliation_strings":["School of Electronic Engineering, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043535187","display_name":"Jianye Dong","orcid":"https://orcid.org/0000-0002-6283-5658"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianye Dong","raw_affiliation_strings":["China Research Institute of Radiowave Propagation, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Research Institute of Radiowave Propagation, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"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":0.07721612,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"83","last_page":"89"},"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":0.9973000288009644,"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":0.9940999746322632,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8639136552810669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7528483867645264},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.703838586807251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7013897895812988},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.607192873954773},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.563817024230957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5541856288909912},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.5100094079971313},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.47828182578086853},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.381804883480072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3803554177284241},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.12671807408332825},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.08765226602554321}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8639136552810669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7528483867645264},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.703838586807251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7013897895812988},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.607192873954773},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.563817024230957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5541856288909912},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.5100094079971313},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.47828182578086853},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.381804883480072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3803554177284241},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.12671807408332825},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08765226602554321},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3529466.3529473","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3529466.3529473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 the 6th International Conference on Innovation in Artificial Intelligence (ICIAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W605243474","https://openalex.org/W2151103935","https://openalex.org/W2200124539","https://openalex.org/W2396274919","https://openalex.org/W2411093439","https://openalex.org/W2507318699","https://openalex.org/W2535547924","https://openalex.org/W2618039218","https://openalex.org/W2745859992","https://openalex.org/W2887751724","https://openalex.org/W2963981420","https://openalex.org/W2970172541","https://openalex.org/W2988922254","https://openalex.org/W3034251466","https://openalex.org/W3102327032","https://openalex.org/W3124643684","https://openalex.org/W4236965008"],"related_works":["https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W2564786226","https://openalex.org/W2963091090","https://openalex.org/W2141498523","https://openalex.org/W2127578024","https://openalex.org/W2165113654","https://openalex.org/W2975125358","https://openalex.org/W1510326563","https://openalex.org/W1556157276"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,11,67,125,144],"Mapping":[3],"(SLAM)":[4],"system":[5,42,90,100,118,143,160],"is":[6,101],"essential":[7],"for":[8],"autonomous":[9],"driving":[10],"mobile":[12],"robots.":[13],"The":[14,73,99,112],"problem":[15],"of":[16,27,69,79,152],"data":[17,54],"association":[18],"between":[19],"features":[20],"becomes":[21],"a":[22,51,88],"bottleneck":[23],"limiting":[24],"the":[25,40,44,65,70,77,80,128,132,150,153,159,166],"performance":[26,78],"traditional":[28,108],"visual":[29,109,141],"SLAM":[30,41,71,81,89,110,142],"systems,":[31],"especially":[32],"in":[33,83,104,163],"complex":[34,105],"environments.":[35],"Therefore,":[36],"many":[37,84],"studies":[38],"combine":[39],"with":[43,95,139,149],"Convolutional":[45],"Neural":[46],"Networks":[47],"(CNN)":[48],"to":[49],"obtain":[50],"more":[52,102],"robust":[53,103],"association.":[55],"This":[56],"paper":[57],"shows":[58],"that":[59,91,116],"CNN-based":[60,74],"local":[61,97,134],"descriptors":[62,135],"significantly":[63],"improve":[64],"accuracy":[66,122],"robustness":[68],"system.":[72],"keypoints":[75,94],"reduce":[76],"algorithm":[82],"scenarios.":[85],"We":[86],"propose":[87],"combines":[92],"hand-crafted":[93],"CNN":[96,133],"descriptors.":[98],"environments":[106],"than":[107,123],"systems.":[111],"experimental":[113],"results":[114],"show":[115],"our":[117],"achieves":[119],"higher":[120],"localization":[121],"ORB-SLAM2":[124],"VINS-Mono":[126],"on":[127,165],"evaluated":[129],"datasets.":[130],"Meanwhile,":[131],"can":[136,161],"be":[137],"combined":[138],"any":[140],"have":[145],"good":[146],"portability.":[147],"Furthermore,":[148],"assistant":[151],"Nvidia":[154],"TensorRT":[155],"inference":[156],"acceleration":[157],"technology,":[158],"run":[162],"real-time":[164],"Jetson":[167],"AGX":[168],"Xavier":[169],"at":[170],"27":[171],"frames":[172],"per":[173],"second.":[174]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}