{"id":"https://openalex.org/W3083815714","doi":"https://doi.org/10.3390/s20185150","title":"RGB-D Object SLAM Using Quadrics for Indoor Environments","display_name":"RGB-D Object SLAM Using Quadrics for Indoor Environments","publication_year":2020,"publication_date":"2020-09-09","ids":{"openalex":"https://openalex.org/W3083815714","doi":"https://doi.org/10.3390/s20185150","mag":"3083815714","pmid":"https://pubmed.ncbi.nlm.nih.gov/32917023"},"language":"en","primary_location":{"id":"doi:10.3390/s20185150","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20185150","pdf_url":"https://www.mdpi.com/1424-8220/20/18/5150/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/18/5150/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011612877","display_name":"Ziwei Liao","orcid":"https://orcid.org/0000-0002-4304-6020"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwei Liao","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-4304-6020","affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392006","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-5477-1017"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049272137","display_name":"Xianyu Qi","orcid":"https://orcid.org/0000-0002-6636-374X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianyu Qi","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-6636-374X","affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054774854","display_name":"Xiaoyu Zhang","orcid":"https://orcid.org/0000-0002-8674-3790"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Zhang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-8674-3790","affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100392006"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":37.4677,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99441856,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"20","issue":"18","first_page":"5150","last_page":"5150"},"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":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9933000206947327,"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-vision","display_name":"Computer vision","score":0.7520696520805359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7442773580551147},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6921427249908447},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.644811749458313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6443002820014954},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5903730988502502},{"id":"https://openalex.org/keywords/quadric","display_name":"Quadric","score":0.538881778717041},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5124526619911194},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4764176607131958},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.45321670174598694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43790942430496216},{"id":"https://openalex.org/keywords/object-model","display_name":"Object model","score":0.43138325214385986},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41100260615348816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.370941698551178},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22820672392845154},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16004282236099243}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7520696520805359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7442773580551147},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6921427249908447},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.644811749458313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6443002820014954},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5903730988502502},{"id":"https://openalex.org/C2779219049","wikidata":"https://www.wikidata.org/wiki/Q852117","display_name":"Quadric","level":2,"score":0.538881778717041},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5124526619911194},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4764176607131958},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.45321670174598694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43790942430496216},{"id":"https://openalex.org/C20894473","wikidata":"https://www.wikidata.org/wiki/Q1116105","display_name":"Object model","level":3,"score":0.43138325214385986},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41100260615348816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.370941698551178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22820672392845154},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16004282236099243},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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":5,"locations":[{"id":"doi:10.3390/s20185150","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20185150","pdf_url":"https://www.mdpi.com/1424-8220/20/18/5150/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:32917023","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32917023","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:68f773f8936743c38522d97d4544b318","is_oa":true,"landing_page_url":"https://doaj.org/article/68f773f8936743c38522d97d4544b318","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":"Sensors, Vol 20, Iss 18, p 5150 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/18/5150/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s20185150","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 20; Issue 18; Pages: 5150","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7571184","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7571184","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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20185150","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20185150","pdf_url":"https://www.mdpi.com/1424-8220/20/18/5150/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1652862293","display_name":null,"funder_award_id":"91748101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W48062534","https://openalex.org/W612478963","https://openalex.org/W1592619852","https://openalex.org/W1861492603","https://openalex.org/W1986291637","https://openalex.org/W1996079613","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2043630212","https://openalex.org/W2058535340","https://openalex.org/W2097696373","https://openalex.org/W2102271310","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2250172176","https://openalex.org/W2461937780","https://openalex.org/W2465106705","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2565078525","https://openalex.org/W2610694266","https://openalex.org/W2736737714","https://openalex.org/W2739423245","https://openalex.org/W2779423082","https://openalex.org/W2790381882","https://openalex.org/W2794510390","https://openalex.org/W2886388988","https://openalex.org/W2887751724","https://openalex.org/W2888144883","https://openalex.org/W2890979597","https://openalex.org/W2891708887","https://openalex.org/W2938672559","https://openalex.org/W2950381071","https://openalex.org/W2950818110","https://openalex.org/W2963037989","https://openalex.org/W2963091090","https://openalex.org/W2963117514","https://openalex.org/W2963150697","https://openalex.org/W2964226622","https://openalex.org/W2967044683","https://openalex.org/W2967352563","https://openalex.org/W2967664003","https://openalex.org/W2968147691","https://openalex.org/W2971193004","https://openalex.org/W2978413979","https://openalex.org/W2988394443","https://openalex.org/W2991360464","https://openalex.org/W3029147375","https://openalex.org/W3089936780","https://openalex.org/W3090386798","https://openalex.org/W3098467253","https://openalex.org/W3102327032","https://openalex.org/W3124420883"],"related_works":["https://openalex.org/W2384882317","https://openalex.org/W2037264771","https://openalex.org/W2950567443","https://openalex.org/W2327777938","https://openalex.org/W2116952306","https://openalex.org/W3017621005","https://openalex.org/W3207065311","https://openalex.org/W4382141741","https://openalex.org/W2137339732","https://openalex.org/W4386598288"],"abstract_inverted_index":{"Indoor":[0],"service":[1],"robots":[2],"need":[3],"to":[4,10,68,106,140,185,197],"build":[5,24],"an":[6,50,65,212],"object-centric":[7],"semantic":[8,42,52],"map":[9,26],"understand":[11],"and":[12,20,34,75,80,92,102,167,176,193,211,229],"execute":[13],"human":[14],"instructions.":[15],"Conventional":[16],"visual":[17],"simultaneous":[18],"localization":[19,227],"mapping":[21,230],"(SLAM)":[22],"systems":[23],"a":[25,41,61,89,93,108,112,152,181,218],"using":[27],"geometric":[28],"features":[29],"such":[30],"as":[31,36,64],"points,":[32],"lines,":[33],"planes":[35],"landmarks.":[37],"However,":[38],"they":[39],"lack":[40],"understanding":[43],"of":[44,84,129,163],"the":[45,71,122,145,156,161,164,174,190,198,205,226],"environment.":[46,220],"This":[47,77,178],"paper":[48,78,179],"proposes":[49,79],"object-level":[51],"SLAM":[53,148,237],"algorithm":[54,206],"based":[55],"on":[56,207,225],"RGB-D":[57,85,114,157],"data,":[58],"which":[59,133,171],"uses":[60,134],"quadric":[62,147,199],"surface":[63,200],"object":[66,100,138,236],"model":[67,91,98,118,159],"compactly":[69],"represent":[70],"object's":[72],"position,":[73],"orientation,":[74],"shape.":[76],"derives":[81],"two":[82,208,234],"types":[83],"camera-quadric":[86],"observation":[87,154,158,165],"models:":[88],"complete":[90,97,109],"partial":[94,117],"model.":[95,201],"The":[96,116],"combines":[99],"detection":[101,139],"point":[103],"cloud":[104],"data":[105,124,187],"estimate":[107],"ellipsoid":[110],"in":[111,189,217],"single":[113],"frame.":[115],"is":[119,125],"activated":[120],"when":[121],"depth":[123],"severely":[126],"missing":[127],"because":[128],"illuminations":[130],"or":[131],"occlusions,":[132],"bounding":[135],"boxes":[136],"from":[137],"constrain":[141],"objects.":[142],"Compared":[143],"with":[144,233],"state-of-the-art":[146,235],"algorithms":[149],"that":[150],"use":[151],"monocular":[153],"model,":[155],"reduces":[160],"requirements":[162],"number":[166],"viewing":[168],"angle":[169],"changes,":[170],"helps":[172],"improve":[173],"accuracy":[175,228],"robustness.":[177],"introduces":[180],"nonparametric":[182],"pose":[183],"graph":[184],"solve":[186],"associations":[188],"back":[191],"end,":[192],"innovatively":[194],"applies":[195],"it":[196],"We":[202,221],"thoroughly":[203],"evaluated":[204],"public":[209],"datasets":[210],"author-collected":[213],"mobile":[214],"robot":[215],"dataset":[216],"home-like":[219],"obtained":[222],"obvious":[223],"improvements":[224],"effects":[231],"compared":[232],"algorithms.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}