{"id":"https://openalex.org/W4414350916","doi":"https://doi.org/10.3389/frobt.2025.1648309","title":"GNV2-SLAM: vision SLAM system for cowshed inspection robots","display_name":"GNV2-SLAM: vision SLAM system for cowshed inspection robots","publication_year":2025,"publication_date":"2025-09-19","ids":{"openalex":"https://openalex.org/W4414350916","doi":"https://doi.org/10.3389/frobt.2025.1648309","pmid":"https://pubmed.ncbi.nlm.nih.gov/41050740"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1648309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648309","pdf_url":null,"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://doi.org/10.3389/frobt.2025.1648309","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016406963","display_name":"Xinwu Du","orcid":"https://orcid.org/0000-0003-2221-2146"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]},{"id":"https://openalex.org/I72565114","display_name":"Luoyang Institute of Science and Technology","ror":"https://ror.org/04nraex26","country_code":"CN","type":"education","lineage":["https://openalex.org/I72565114"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinwu Du","raw_affiliation_strings":["Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang, China","College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","Longmen Laboratory, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang, China","institution_ids":[]},{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"Longmen Laboratory, Luoyang, China","institution_ids":["https://openalex.org/I72565114"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416459","display_name":"Tingting Li","orcid":"https://orcid.org/0000-0001-8069-1531"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingting Li","raw_affiliation_strings":["College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641351","display_name":"Xin Jin","orcid":"https://orcid.org/0000-0003-2546-3856"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Jin","raw_affiliation_strings":["College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113239913","display_name":"Xiufang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiufang Yu","raw_affiliation_strings":["College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100966238","display_name":"Xiaolin Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Xie","raw_affiliation_strings":["College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013878752","display_name":"Chenglin Zhang","orcid":"https://orcid.org/0000-0002-5853-6524"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglin Zhang","raw_affiliation_strings":["College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5016406963"],"corresponding_institution_ids":["https://openalex.org/I167383011","https://openalex.org/I72565114"],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29253027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1648309","last_page":"1648309"},"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":0.9962000250816345,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9943000078201294,"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/robustness","display_name":"Robustness (evolution)","score":0.6998000144958496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5827999711036682},{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.46700000762939453},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.4593999981880188},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4514999985694885},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4375999867916107},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4361000061035156},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4250999987125397},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.42489999532699585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.855400025844574},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6998000144958496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6276999711990356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.609000027179718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5827999711036682},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.46700000762939453},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4593999981880188},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4514999985694885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4429999887943268},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4375999867916107},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4361000061035156},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42489999532699585},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3488999903202057},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.34459999203681946},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3440000116825104},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34369999170303345},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.3407000005245209},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.337799996137619},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3043000102043152},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2978000044822693},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.2635999917984009},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2025.1648309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648309","pdf_url":null,"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:41050740","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41050740","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:doaj.org/article:9c5181ce43a441d08b430abb41c90e3a","is_oa":true,"landing_page_url":"https://doaj.org/article/9c5181ce43a441d08b430abb41c90e3a","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 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11303434","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12492984","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:12492984","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12492984/","pdf_url":null,"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"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1648309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648309","pdf_url":null,"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2156953558","https://openalex.org/W2535547924","https://openalex.org/W2884585870","https://openalex.org/W2904977105","https://openalex.org/W2950989657","https://openalex.org/W2955425717","https://openalex.org/W3035414587","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3119126584","https://openalex.org/W3120190381","https://openalex.org/W3185918112","https://openalex.org/W4205725812","https://openalex.org/W4229041682","https://openalex.org/W4283166616","https://openalex.org/W4286434127","https://openalex.org/W4293812019","https://openalex.org/W4296280925","https://openalex.org/W4309725620","https://openalex.org/W4309955902","https://openalex.org/W4362588354","https://openalex.org/W4367321814","https://openalex.org/W4378464458","https://openalex.org/W4383822061","https://openalex.org/W4394669457","https://openalex.org/W4402158872"],"related_works":[],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,87,138,151,190,218,222,254,265,287,316],"Mapping":[3],"(SLAM)":[4],"has":[5],"emerged":[6],"as":[7,80],"one":[8],"of":[9,59,125,187,201,216,233,242,259,284,332],"the":[10,28,57,95,106,139,146,173,181,239,257,271,274,279,290,300,309,329],"foundational":[11],"technologies":[12],"enabling":[13],"mobile":[14],"robots":[15,264],"to":[16,93],"achieve":[17],"autonomous":[18],"navigation,":[19],"garnering":[20],"significant":[21,311],"attention":[22,85],"in":[23,31,185,203,225,270,313],"recent":[24],"years.":[25],"To":[26],"address":[27],"limitations":[29],"inherent":[30],"traditional":[32,182],"SLAM":[33,45],"systems":[34],"when":[35,278],"operating":[36],"within":[37,192,247],"dynamic":[38,166,193],"environments,":[39],"this":[40,260],"paper":[41],"proposes":[42],"a":[43,66,123,198,243,324],"new":[44,325],"system":[46,64,148,184,261],"named":[47],"GNV2-SLAM":[48,147,178,236,295],"based":[49,73],"on":[50,74,172,262],"ORB-SLAM2,":[51],"offering":[52],"an":[53],"innovative":[54,63],"solution":[55,327],"for":[56,209,220,328],"scenario":[58],"cowshed":[60,272],"inspection.":[61],"This":[62,305],"incorporates":[65,149],"lightweight":[67],"object":[68],"detection":[69,100],"network":[70,108],"called":[71],"GNV2":[72,107],"YOLOv8.":[75],"Additionally,":[76],"it":[77],"employs":[78],"GhostNetv2":[79],"backbone":[81],"network.":[82],"The":[83],"CBAM":[84],"mechanism":[86],"SCDown":[88],"downsampling":[89],"module":[90],"were":[91,129],"introduced":[92],"reduce":[94],"model":[96,111,127,140],"complexity":[97],"while":[98,114],"ensuring":[99],"accuracy.":[101],"Experimental":[102],"results":[103,275],"indicate":[104,276],"that":[105,177,277],"achieves":[109],"excellent":[110],"compression":[112],"effects":[113],"maintaining":[115],"high":[116],"performance:":[117],"mAP@0.5":[118],"increased":[119],"by":[120,131,136,143,164,294],"1.04%,":[121],"reaching":[122],"total":[124],"95.19%;":[126],"parameters":[128],"decreased":[130],"41.95%,":[132],"computational":[133],"cost":[134],"reduced":[135,159],"36.71%,":[137],"size":[141],"shrunk":[142],"40.44%.":[144],"Moreover,":[145],"point":[150,161],"line":[152],"feature":[153,160],"extraction":[154,162],"techniques,":[155],"effectively":[156],"mitigate":[157],"issues":[158],"caused":[163],"excessive":[165],"targets":[167],"or":[168],"blurred":[169],"images.":[170],"Testing":[171],"TUM":[174],"dataset":[175],"demonstrate":[176],"significantly":[179],"outperforms":[180],"ORB-SLAM2":[183],"terms":[186,232],"positioning":[188,317],"accuracy":[189,318],"robustness":[191],"environments.":[194],"Specifically,":[195],"there":[196],"was":[197],"remarkable":[199],"reduction":[200],"96.13%":[202],"root":[204],"mean":[205],"square":[206],"error":[207,212,228],"(RMSE)":[208],"absolute":[210],"trajectory":[211,292],"(ATE),":[213],"alongside":[214],"decreases":[215],"88.36%":[217],"86.19%":[219],"translation":[221],"rotation":[223],"drift":[224],"relative":[226],"pose":[227,291],"(RPE),":[229],"respectively.":[230],"In":[231],"tracking":[234,240],"evaluation,":[235],"successfully":[237],"completes":[238],"processing":[241],"single":[244],"frame":[245],"image":[246],"30":[248],"ms,":[249],"demonstrating":[250],"expressive":[251],"real-time":[252],"performance":[253],"competitiveness.":[255],"Following":[256],"deployment":[258],"inspection":[263,335],"subsequent":[266],"experimental":[267,320],"trials":[268],"conducted":[269],"environment,":[273],"robot":[280],"operates":[281],"at":[282],"speeds":[283],"0.4":[285],"m/s":[286],"0.6":[288],"m/s,":[289],"output":[293],"is":[296],"more":[297],"consistent":[298],"with":[299],"robot's":[301],"actual":[302],"movement":[303],"trajectory.":[304],"study":[306],"systematically":[307],"validated":[308],"system's":[310],"advantages":[312],"target":[314],"recognition":[315],"through":[319],"verification,":[321],"thereby":[322],"providing":[323],"technical":[326],"comprehensive":[330],"automation":[331],"cattle":[333],"barn":[334],"tasks.":[336]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}