{"id":"https://openalex.org/W4394693077","doi":"https://doi.org/10.3389/frobt.2024.1347985","title":"A review of visual SLAM for robotics: evolution, properties, and future applications","display_name":"A review of visual SLAM for robotics: evolution, properties, and future applications","publication_year":2024,"publication_date":"2024-04-10","ids":{"openalex":"https://openalex.org/W4394693077","doi":"https://doi.org/10.3389/frobt.2024.1347985","pmid":"https://pubmed.ncbi.nlm.nih.gov/38686339"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1347985","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1347985","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1347985/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1347985/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092144667","display_name":"Basheer Al-Tawil","orcid":"https://orcid.org/0000-0002-5716-7587"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]},{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Basheer Al-Tawil","raw_affiliation_strings":["Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202","https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082162789","display_name":"Thorsten Hempel","orcid":"https://orcid.org/0000-0002-3621-7194"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]},{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thorsten Hempel","raw_affiliation_strings":["Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202","https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015767782","display_name":"Ahmed A. Abdelrahman","orcid":"https://orcid.org/0000-0002-1575-0942"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]},{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ahmed Abdelrahman","raw_affiliation_strings":["Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202","https://openalex.org/I202367325"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033366160","display_name":"Ayoub Al-Hamadi","orcid":"https://orcid.org/0000-0002-3632-2402"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]},{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ayoub Al-Hamadi","raw_affiliation_strings":["Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Technology and Communications, Otto-von-Guericke-University, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202","https://openalex.org/I202367325"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":73.7416,"has_fulltext":true,"cited_by_count":69,"citation_normalized_percentile":{"value":0.9994695,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"11","issue":null,"first_page":"1347985","last_page":"1347985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9972000122070312,"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":0.7609776258468628},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7493757009506226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7176749110221863},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41963517665863037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23923182487487793}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7609776258468628},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7493757009506226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7176749110221863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41963517665863037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23923182487487793}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2024.1347985","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1347985","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1347985/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:38686339","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38686339","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11056647","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11056647","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11056647/pdf/frobt-11-1347985.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:b649f5c1cb4f4443801084103cc1da29","is_oa":true,"landing_page_url":"https://doaj.org/article/b649f5c1cb4f4443801084103cc1da29","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1347985","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1347985","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1347985/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394693077.pdf"},"referenced_works_count":202,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1987648924","https://openalex.org/W1992985704","https://openalex.org/W2001534748","https://openalex.org/W2003315864","https://openalex.org/W2013503831","https://openalex.org/W2056238234","https://openalex.org/W2058535340","https://openalex.org/W2064451896","https://openalex.org/W2073660060","https://openalex.org/W2091226544","https://openalex.org/W2091790851","https://openalex.org/W2099019320","https://openalex.org/W2107810727","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2130422193","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2198527813","https://openalex.org/W2216550548","https://openalex.org/W2218842719","https://openalex.org/W2339027962","https://openalex.org/W2396274919","https://openalex.org/W2397301397","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2556215627","https://openalex.org/W2586572282","https://openalex.org/W2595306270","https://openalex.org/W2597863410","https://openalex.org/W2621274416","https://openalex.org/W2738816079","https://openalex.org/W2745859992","https://openalex.org/W2766144513","https://openalex.org/W2770176163","https://openalex.org/W2777964604","https://openalex.org/W2786935220","https://openalex.org/W2810564185","https://openalex.org/W2811184430","https://openalex.org/W2885393486","https://openalex.org/W2898231767","https://openalex.org/W2903600980","https://openalex.org/W2923100953","https://openalex.org/W2927562344","https://openalex.org/W2964189516","https://openalex.org/W2968998169","https://openalex.org/W2969821913","https://openalex.org/W2978413979","https://openalex.org/W2986062851","https://openalex.org/W3003179103","https://openalex.org/W3004141020","https://openalex.org/W3007689203","https://openalex.org/W3021768497","https://openalex.org/W3025554506","https://openalex.org/W3028006854","https://openalex.org/W3033017537","https://openalex.org/W3035498256","https://openalex.org/W3043258647","https://openalex.org/W3043971245","https://openalex.org/W3083804680","https://openalex.org/W3085981605","https://openalex.org/W3088788314","https://openalex.org/W3090386798","https://openalex.org/W3091667825","https://openalex.org/W3091727808","https://openalex.org/W3096741513","https://openalex.org/W3102327032","https://openalex.org/W3103125695","https://openalex.org/W3103957575","https://openalex.org/W3105489439","https://openalex.org/W3109321800","https://openalex.org/W3110852010","https://openalex.org/W3110877281","https://openalex.org/W3111109699","https://openalex.org/W3120564201","https://openalex.org/W3125324929","https://openalex.org/W3129236922","https://openalex.org/W3129561838","https://openalex.org/W3131673036","https://openalex.org/W3134172789","https://openalex.org/W3143213514","https://openalex.org/W3148176530","https://openalex.org/W3161233433","https://openalex.org/W3166286843","https://openalex.org/W3171315173","https://openalex.org/W3192992688","https://openalex.org/W3196085012","https://openalex.org/W3198180808","https://openalex.org/W3198559682","https://openalex.org/W3206096534","https://openalex.org/W3207377736","https://openalex.org/W3212729602","https://openalex.org/W3215674841","https://openalex.org/W4205725812","https://openalex.org/W4210951069","https://openalex.org/W4211154833","https://openalex.org/W4212966960","https://openalex.org/W4221156665","https://openalex.org/W4224884377","https://openalex.org/W4225108957","https://openalex.org/W4226236972","https://openalex.org/W4246614213","https://openalex.org/W4253531951","https://openalex.org/W4281641918","https://openalex.org/W4281642191","https://openalex.org/W4283803688","https://openalex.org/W4285389770","https://openalex.org/W4285512267","https://openalex.org/W4289730921","https://openalex.org/W4289950785","https://openalex.org/W4291172312","https://openalex.org/W4294167420","https://openalex.org/W4294770432","https://openalex.org/W4297094597","https://openalex.org/W4307783807","https://openalex.org/W4309591753","https://openalex.org/W4309822222","https://openalex.org/W4310626783","https://openalex.org/W4312106637","https://openalex.org/W4312723761","https://openalex.org/W4312878643","https://openalex.org/W4313155565","https://openalex.org/W4313327296","https://openalex.org/W4313396710","https://openalex.org/W4313453017","https://openalex.org/W4318049992","https://openalex.org/W4320059027","https://openalex.org/W4320086600","https://openalex.org/W4321192246","https://openalex.org/W4321458293","https://openalex.org/W4321780142","https://openalex.org/W4323240318","https://openalex.org/W4327662982","https://openalex.org/W4361285148","https://openalex.org/W4362562908","https://openalex.org/W4365147444","https://openalex.org/W4367298443","https://openalex.org/W4367673664","https://openalex.org/W4376624948","https://openalex.org/W4376956197","https://openalex.org/W4380342934","https://openalex.org/W4380990039","https://openalex.org/W4383108809","https://openalex.org/W4383109324","https://openalex.org/W4385213405","https://openalex.org/W4385332535","https://openalex.org/W4385555993","https://openalex.org/W4386593732","https://openalex.org/W4388052776","https://openalex.org/W4388219722","https://openalex.org/W4388917072","https://openalex.org/W4389667055","https://openalex.org/W4391759936","https://openalex.org/W4399526616","https://openalex.org/W4403863396","https://openalex.org/W6647424575","https://openalex.org/W6648596621","https://openalex.org/W6650659450","https://openalex.org/W6651276036","https://openalex.org/W6665175149","https://openalex.org/W6666612958","https://openalex.org/W6676499011","https://openalex.org/W6681934335","https://openalex.org/W6682341742","https://openalex.org/W6683508091","https://openalex.org/W6688809243","https://openalex.org/W6714262829","https://openalex.org/W6724442501","https://openalex.org/W6732817554","https://openalex.org/W6734895437","https://openalex.org/W6735002563","https://openalex.org/W6741741020","https://openalex.org/W6745083844","https://openalex.org/W6752460770","https://openalex.org/W6760357315","https://openalex.org/W6762554135","https://openalex.org/W6766734176","https://openalex.org/W6767115166","https://openalex.org/W6769670619","https://openalex.org/W6773361781","https://openalex.org/W6778271628","https://openalex.org/W6781941459","https://openalex.org/W6785333096","https://openalex.org/W6787497744","https://openalex.org/W6792990812","https://openalex.org/W6808691334","https://openalex.org/W6811284115","https://openalex.org/W6843514444","https://openalex.org/W6844176801","https://openalex.org/W6846374280","https://openalex.org/W6847950976","https://openalex.org/W6849235690","https://openalex.org/W6850371758","https://openalex.org/W6852522792","https://openalex.org/W6853150401","https://openalex.org/W6855965594","https://openalex.org/W6906698311","https://openalex.org/W6948109372"],"related_works":["https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W2058170566","https://openalex.org/W2767518918","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2131444840"],"abstract_inverted_index":{"Visual":[0],"simultaneous":[1],"localization":[2],"and":[3,19,48,69,91,120],"mapping":[4],"(V-SLAM)":[5],"plays":[6],"a":[7,108],"crucial":[8],"role":[9],"in":[10,31,34],"the":[11,50,59,73,83,101,104],"field":[12],"of":[13,40,52,85,103],"robotic":[14,78,105],"systems,":[15],"especially":[16],"for":[17,67,76,124],"interactive":[18],"collaborative":[20],"mobile":[21],"robots.":[22,53],"The":[23,97],"growing":[24],"reliance":[25],"on":[26,100],"robotics":[27],"has":[28],"increased":[29],"complexity":[30],"task":[32],"execution":[33],"real-world":[35],"applications.":[36,79],"Consequently,":[37],"several":[38],"types":[39],"V-SLAM":[41,61,117],"methods":[42],"have":[43],"been":[44],"revealed":[45],"to":[46,57,71],"facilitate":[47],"streamline":[49],"functions":[51],"This":[54],"work":[55],"aims":[56],"showcase":[58],"latest":[60],"methodologies,":[62],"offering":[63],"clear":[64],"selection":[65],"criteria":[66],"researchers":[68],"developers":[70],"choose":[72],"right":[74],"approach":[75],"their":[77],"It":[80],"chronologically":[81],"presents":[82,121],"evolution":[84],"SLAM":[86],"methods,":[87],"highlighting":[88],"key":[89],"principles":[90],"providing":[92],"comparative":[93],"analyses":[94],"between":[95],"them.":[96],"paper":[98],"focuses":[99],"integration":[102],"ecosystem":[106],"with":[107],"robot":[109],"operating":[110],"system":[111],"(ROS)":[112],"as":[113],"Middleware,":[114],"explores":[115],"essential":[116],"benchmark":[118],"datasets,":[119],"demonstrative":[122],"figures":[123],"each":[125],"method's":[126],"workflow.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":11}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
