{"id":"https://openalex.org/W4200029472","doi":"https://doi.org/10.3390/s22010210","title":"A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping","display_name":"A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping","publication_year":2021,"publication_date":"2021-12-29","ids":{"openalex":"https://openalex.org/W4200029472","doi":"https://doi.org/10.3390/s22010210","pmid":"https://pubmed.ncbi.nlm.nih.gov/35009753"},"language":"en","primary_location":{"id":"doi:10.3390/s22010210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22010210","pdf_url":"https://www.mdpi.com/1424-8220/22/1/210/pdf?version=1640766532","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/1424-8220/22/1/210/pdf?version=1640766532","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078394262","display_name":"Rodrigo Mungu\u00eda","orcid":"https://orcid.org/0000-0003-2282-2884"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Rodrigo Munguia","raw_affiliation_strings":["Department of Computer Science (CUCEI), University of Guadalajara, Guadalajara 44430, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science (CUCEI), University of Guadalajara, Guadalajara 44430, Mexico","institution_ids":["https://openalex.org/I193181351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046050447","display_name":"Juan-Carlos Trujillo","orcid":"https://orcid.org/0000-0002-2356-6926"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Juan-Carlos Trujillo","raw_affiliation_strings":["Department of Computer Science (CUCEI), University of Guadalajara, Guadalajara 44430, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science (CUCEI), University of Guadalajara, Guadalajara 44430, Mexico","institution_ids":["https://openalex.org/I193181351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058448958","display_name":"Edmundo Guerra","orcid":"https://orcid.org/0000-0002-6696-0982"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Edmundo Guerra","raw_affiliation_strings":["Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056028210","display_name":"Antoni Grau","orcid":"https://orcid.org/0000-0003-4112-3325"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antoni Grau","raw_affiliation_strings":["Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078394262"],"corresponding_institution_ids":["https://openalex.org/I193181351"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":5.1761,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95844201,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"22","issue":"1","first_page":"210","last_page":"210"},"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/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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.8669543266296387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.647766649723053},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6237950325012207},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6094197034835815},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5703364610671997},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5364696383476257},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5146802067756653},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5019698143005371},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19938242435455322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10636100172996521},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07241889834403992}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8669543266296387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.647766649723053},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237950325012207},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6094197034835815},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5703364610671997},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5364696383476257},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5146802067756653},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5019698143005371},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19938242435455322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10636100172996521},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07241889834403992},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000088722","descriptor_name":"Unmanned Aerial Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000088722","descriptor_name":"Unmanned Aerial Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000088722","descriptor_name":"Unmanned Aerial Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":6,"locations":[{"id":"doi:10.3390/s22010210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22010210","pdf_url":"https://www.mdpi.com/1424-8220/22/1/210/pdf?version=1640766532","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:35009753","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35009753","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:bea638038b88467c82328dcfbbfd96f3","is_oa":true,"landing_page_url":"https://doaj.org/article/bea638038b88467c82328dcfbbfd96f3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 22, Iss 1, p 210 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/1/210/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22010210","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 22; Issue 1; Pages: 210","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8749760","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8749760","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"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"},{"id":"pmh:oai:upcommons.upc.edu:2117/361714","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/361714","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.3390/s22010210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22010210","pdf_url":"https://www.mdpi.com/1424-8220/22/1/210/pdf?version=1640766532","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G1643949827","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1679409622","display_name":null,"funder_award_id":"PID2019-106702RB-C21","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G1839716950","display_name":null,"funder_award_id":"EI/10.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2309174360","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3690828678","display_name":null,"funder_award_id":"PID2019","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G4017095837","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G4876692492","display_name":null,"funder_award_id":"PID2019-106702RB-C21","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5421974903","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G5550858994","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6779418066","display_name":null,"funder_award_id":"AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7535663061","display_name":null,"funder_award_id":"AEI/10.","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7643708868","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G7874301403","display_name":null,"funder_award_id":"C21/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G8055432103","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8352492595","display_name":null,"funder_award_id":"0.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G8638682022","display_name":null,"funder_award_id":"10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8684520763","display_name":null,"funder_award_id":"PID2019","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8853601691","display_name":null,"funder_award_id":"/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200029472.pdf","grobid_xml":"https://content.openalex.org/works/W4200029472.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W21877","https://openalex.org/W49679257","https://openalex.org/W1612997784","https://openalex.org/W1627400044","https://openalex.org/W1973046761","https://openalex.org/W2001164479","https://openalex.org/W2025007236","https://openalex.org/W2027055074","https://openalex.org/W2043630212","https://openalex.org/W2080823437","https://openalex.org/W2101051269","https://openalex.org/W2117228865","https://openalex.org/W2121013842","https://openalex.org/W2122692946","https://openalex.org/W2127578024","https://openalex.org/W2129613645","https://openalex.org/W2130960731","https://openalex.org/W2134784299","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2165777968","https://openalex.org/W2210972093","https://openalex.org/W2257418956","https://openalex.org/W2754177129","https://openalex.org/W2785746569","https://openalex.org/W2787493943","https://openalex.org/W2793137555","https://openalex.org/W2793720103","https://openalex.org/W2795980524","https://openalex.org/W2889753269","https://openalex.org/W2895823395","https://openalex.org/W2907254041","https://openalex.org/W2909147962","https://openalex.org/W2945529733","https://openalex.org/W2990893211","https://openalex.org/W3020112479","https://openalex.org/W3028213758","https://openalex.org/W3035498256","https://openalex.org/W3083815714","https://openalex.org/W3137206812","https://openalex.org/W3179987205","https://openalex.org/W3198073071","https://openalex.org/W3210053865","https://openalex.org/W4243987629","https://openalex.org/W4250666038","https://openalex.org/W4299512326","https://openalex.org/W6779887311","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W200819717","https://openalex.org/W28570768","https://openalex.org/W2032269556","https://openalex.org/W1991834176","https://openalex.org/W2944448661","https://openalex.org/W2064421702","https://openalex.org/W4253756925","https://openalex.org/W2805523177","https://openalex.org/W2131956013","https://openalex.org/W2980723633"],"abstract_inverted_index":{"This":[0,95],"work":[1,96],"presents":[2,98],"a":[3,46,51,62,103,126],"hybrid":[4],"visual-based":[5,27,85],"SLAM":[6,28,48,86,106],"architecture":[7],"that":[8,112],"aims":[9],"to":[10,44,74,130],"take":[11],"advantage":[12],"of":[13,16,18,37,58,66,84,102,125,134],"the":[14,19,32,56,67,70,76,92,99,123,132,135],"strengths":[15],"each":[17],"two":[20],"main":[21,41],"methodologies":[22],"currently":[23],"available":[24],"for":[25,108],"implementing":[26],"systems,":[29],"while":[30],"at":[31],"same":[33],"time":[34],"minimizing":[35],"some":[36],"their":[38],"drawbacks.":[39],"The":[40],"idea":[42],"is":[43],"implement":[45],"local":[47],"process":[49],"using":[50,79,91,118],"filter-based":[52],"technique,":[53],"and":[54,60],"enable":[55],"tasks":[57],"building":[59],"maintaining":[61],"consistent":[63],"global":[64],"map":[65],"environment,":[68],"including":[69],"loop":[71],"closure":[72],"problem,":[73],"use":[75],"processes":[77],"implemented":[78,90],"optimization-based":[80],"techniques.":[81],"Different":[82],"variants":[83],"systems":[87],"can":[88],"be":[89],"proposed":[93,136],"architecture.":[94],"also":[97],"implementation":[100],"case":[101],"full":[104],"monocular-based":[105],"system":[107],"unmanned":[109],"aerial":[110],"vehicles":[111],"integrates":[113],"additional":[114],"sensory":[115],"inputs.":[116],"Experiments":[117],"real":[119],"data":[120],"obtained":[121],"from":[122],"sensors":[124],"quadrotor":[127],"are":[128],"presented":[129],"validate":[131],"feasibility":[133],"approach.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}