{"id":"https://openalex.org/W4312388011","doi":"https://doi.org/10.1145/3556384.3556424","title":"A RGB-D Visual SLAM Algorithm Based on GCNv2 and GMS for Dynamic Scenes","display_name":"A RGB-D Visual SLAM Algorithm Based on GCNv2 and GMS for Dynamic Scenes","publication_year":2022,"publication_date":"2022-08-04","ids":{"openalex":"https://openalex.org/W4312388011","doi":"https://doi.org/10.1145/3556384.3556424"},"language":"en","primary_location":{"id":"doi:10.1145/3556384.3556424","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3556384.3556424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 5th International Conference on Signal Processing and Machine Learning","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/A5008688417","display_name":"Xiangchao Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangchao Shao","raw_affiliation_strings":["Dongguan Power Supply Bureau, Guangdong Power Grid Company, China"],"affiliations":[{"raw_affiliation_string":"Dongguan Power Supply Bureau, Guangdong Power Grid Company, China","institution_ids":["https://openalex.org/I74872605"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085951096","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0002-2633-1516"},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["Dongguan Power Supply Bureau, Guangdong Power Grid Company, China"],"affiliations":[{"raw_affiliation_string":"Dongguan Power Supply Bureau, Guangdong Power Grid Company, China","institution_ids":["https://openalex.org/I74872605"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103157391","display_name":"Guobing Liu","orcid":"https://orcid.org/0000-0002-7046-2353"},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guobing Liu","raw_affiliation_strings":["Dongguan Power Supply Bureau, Guangdong Power Grid Company, China"],"affiliations":[{"raw_affiliation_string":"Dongguan Power Supply Bureau, Guangdong Power Grid Company, China","institution_ids":["https://openalex.org/I74872605"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010759169","display_name":"Chuanming Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanming Tan","raw_affiliation_strings":["Dongguan Power Supply Bureau, Guangdong Power Grid Company, China"],"affiliations":[{"raw_affiliation_string":"Dongguan Power Supply Bureau, Guangdong Power Grid Company, China","institution_ids":["https://openalex.org/I74872605"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013637912","display_name":"Qihao Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qihao Zhong","raw_affiliation_strings":["Dongguan Power Supply Bureau, Guangdong Power Grid Company, China"],"affiliations":[{"raw_affiliation_string":"Dongguan Power Supply Bureau, Guangdong Power Grid Company, China","institution_ids":["https://openalex.org/I74872605"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008688417"],"corresponding_institution_ids":["https://openalex.org/I74872605"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05660893,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"262","last_page":"267"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7921463251113892},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7540155649185181},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7139790058135986},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5973601341247559},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5465268492698669},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5225955247879028},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.49105167388916016},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4814971685409546},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.47709140181541443},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.47394636273384094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2629462778568268},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16236546635627747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0877525806427002}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7921463251113892},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7540155649185181},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7139790058135986},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5973601341247559},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5465268492698669},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5225955247879028},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.49105167388916016},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4814971685409546},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.47709140181541443},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.47394636273384094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2629462778568268},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16236546635627747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0877525806427002},{"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},{"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:10.1145/3556384.3556424","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3556384.3556424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 5th International Conference on Signal Processing and Machine Learning","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":20,"referenced_works":["https://openalex.org/W356219054","https://openalex.org/W2021851106","https://openalex.org/W2115579991","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2609510972","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963881378","https://openalex.org/W2987175876","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W3129250013","https://openalex.org/W4234552385","https://openalex.org/W4240153047","https://openalex.org/W6658049321","https://openalex.org/W6725739302"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2980582925","https://openalex.org/W2556215627"],"abstract_inverted_index":{"Current":[0],"visual":[1,30,71,125],"SLAM":[2,31,126],"algorithms":[3],"usually":[4],"assume":[5],"the":[6,35,45,68,78,83,99,118,124,135,156,164,176],"working":[7],"environment":[8],"is":[9,60,167],"static,":[10],"and":[11,27,42,66,91,106,132,172],"may":[12],"suffer":[13],"from":[14],"large":[15],"localization":[16,177],"errors":[17],"in":[18,113,123,179],"high":[19,79],"dynamic":[20,80,104,121,149,181],"scenes.":[21],"This":[22],"paper":[23,140],"proposes":[24],"an":[25],"efficient":[26],"robust":[28,52,168],"RGB-D":[29],"scheme,":[32],"which":[33,116],"uses":[34],"GCNv2":[36],"network":[37,89],"to":[38,50,63,97,103,111,169],"perform":[39,51],"feature":[40,53,64,100,109],"extraction":[41],"combines":[43],"with":[44,56],"Grid-based":[46],"Motion":[47],"Statistics(GMS)":[48],"algorithm":[49],"matching.":[54],"Compared":[55],"traditional":[57],"methods,":[58],"it":[59],"less":[61],"prone":[62],"loss":[65],"improves":[67],"reliability":[69],"of":[70,82,120,130],"front-end":[72],"pose":[73,114,170],"tracking.":[74],"What's":[75],"more,":[76],"considering":[77],"characteristics":[81],"actual":[84],"scenes,":[85],"lightweight":[86],"semantic":[87,137],"segmentation":[88],"FcHarDNet":[90],"multi-view":[92],"geometric":[93],"constraints":[94],"are":[95,153],"combined":[96],"remove":[98],"points":[101,110],"belonging":[102],"objects":[105,122],"retain":[107],"static":[108,143],"participate":[112],"estimation,":[115],"reduces":[117],"impact":[119],"system.":[127],"On":[128],"top":[129],"that":[131,163],"based":[133],"on":[134,155],"prior":[136],"information,":[138],"this":[139],"successfully":[141],"constructs":[142],"dense":[144],"point":[145],"cloud":[146],"maps":[147],"without":[148],"objects.":[150],"Finally,":[151],"experiments":[152],"conducted":[154],"existing":[157],"public":[158],"datasets.":[159],"Experimental":[160],"results":[161],"show":[162],"proposed":[165],"scheme":[166],"tracking":[171],"can":[173],"greatly":[174],"improve":[175],"accuracy":[178],"a":[180],"environment.":[182]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
