{"id":"https://openalex.org/W2961316730","doi":"https://doi.org/10.23919/mva.2019.8757982","title":"SlamCraft: Dense Planar RGB Monocular SLAM","display_name":"SlamCraft: Dense Planar RGB Monocular SLAM","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2961316730","doi":"https://doi.org/10.23919/mva.2019.8757982","mag":"2961316730"},"language":"en","primary_location":{"id":"doi:10.23919/mva.2019.8757982","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2019.8757982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th International Conference on Machine Vision Applications (MVA)","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/A5000984202","display_name":"Jason Rambach","orcid":"https://orcid.org/0000-0001-8122-6789"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jason Rambach","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067846647","display_name":"Paul Lesur","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paul Lesur","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046969927","display_name":"Alain Pagani","orcid":"https://orcid.org/0000-0002-5136-0837"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alain Pagani","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051650277","display_name":"Didier Stricker","orcid":"https://orcid.org/0009-0004-8794-6858"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Didier Stricker","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000984202"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":3.1736,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.91571683,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9975000023841858,"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/T10888","display_name":"Augmented Reality Applications","score":0.996399998664856,"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":0.8424854874610901},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7513476610183716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7499825954437256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.715843915939331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7149423956871033},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7044786810874939},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6439207792282104},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6208519339561462},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5142433047294617},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49437761306762695},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.4233630299568176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41239842772483826},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.23350900411605835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22041672468185425},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14269402623176575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09485894441604614}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8424854874610901},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7513476610183716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7499825954437256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.715843915939331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7149423956871033},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7044786810874939},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6439207792282104},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6208519339561462},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5142433047294617},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49437761306762695},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.4233630299568176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41239842772483826},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.23350900411605835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22041672468185425},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14269402623176575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09485894441604614},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/mva.2019.8757982","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2019.8757982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th International Conference on Machine Vision Applications (MVA)","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":20,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1994075312","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2061637641","https://openalex.org/W2097696373","https://openalex.org/W2108134361","https://openalex.org/W2210972093","https://openalex.org/W2520333321","https://openalex.org/W2523049145","https://openalex.org/W2527142681","https://openalex.org/W2594519801","https://openalex.org/W2598108580","https://openalex.org/W2606794968","https://openalex.org/W2963591054","https://openalex.org/W2963710007","https://openalex.org/W2963881378","https://openalex.org/W3103648783","https://openalex.org/W6618872416"],"related_works":["https://openalex.org/W2172197285","https://openalex.org/W2991048842","https://openalex.org/W2750280393","https://openalex.org/W2355696739","https://openalex.org/W3158001554","https://openalex.org/W2771909920","https://openalex.org/W2957704286","https://openalex.org/W2028936041","https://openalex.org/W2556215627","https://openalex.org/W2980723633"],"abstract_inverted_index":{"Monocular":[0],"Simultaneous":[1],"Localization":[2],"and":[3,76,115],"Mapping":[4],"(SLAM)":[5],"approaches":[6,17],"have":[7],"progressed":[8],"significantly":[9],"over":[10],"the":[11,32,82,103,112],"last":[12],"two":[13],"decades.":[14],"However,":[15],"keypoint-based":[16],"only":[18],"provide":[19,44],"limited":[20],"structural":[21],"information":[22,55],"in":[23],"a":[24,64,87],"3D":[25],"point":[26,83],"cloud":[27,84],"which":[28],"does":[29],"not":[30],"fulfil":[31],"requirements":[33],"of":[34,86,102,111,117],"applications":[35],"such":[36],"as":[37,106,108],"Augmented":[38],"Reality":[39],"(AR).":[40],"SLAM":[41,88,96],"systems":[42],"that":[43,68],"dense":[45],"environment":[46],"maps":[47],"are":[48],"either":[49],"computationally":[50],"intensive":[51],"or":[52],"require":[53],"depth":[54],"from":[56,72],"additional":[57],"sensors.":[58],"In":[59],"this":[60],"paper,":[61],"we":[62],"use":[63],"deep":[65],"neural":[66],"network":[67],"estimates":[69],"planar":[70,95],"regions":[71],"RGB":[73],"input":[74],"images":[75],"fuses":[77],"its":[78],"output":[79],"iteratively":[80],"with":[81],"map":[85],"system":[89],"to":[90],"create":[91],"an":[92,109],"efficient":[93],"monocular":[94],"system.":[97],"We":[98],"present":[99],"qualitative":[100],"results":[101],"created":[104],"maps,":[105],"well":[107],"evaluation":[110],"tracking":[113],"accuracy":[114],"runtime":[116],"our":[118],"approach.":[119]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}