{"id":"https://openalex.org/W4387908690","doi":"https://doi.org/10.3390/s23208655","title":"A Robust and Integrated Visual Odometry Framework Exploiting the Optical Flow and Feature Point Method","display_name":"A Robust and Integrated Visual Odometry Framework Exploiting the Optical Flow and Feature Point Method","publication_year":2023,"publication_date":"2023-10-23","ids":{"openalex":"https://openalex.org/W4387908690","doi":"https://doi.org/10.3390/s23208655","pmid":"https://pubmed.ncbi.nlm.nih.gov/37896748"},"language":"en","primary_location":{"id":"doi:10.3390/s23208655","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208655","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8655/pdf?version=1698115567","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/1424-8220/23/20/8655/pdf?version=1698115567","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031949135","display_name":"Haiyang Qiu","orcid":"https://orcid.org/0000-0002-9058-2715"},"institutions":[{"id":"https://openalex.org/I4210129938","display_name":"Guangzhou Maritime College","ror":"https://ror.org/03kzcrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210129938"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiyang Qiu","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China","institution_ids":["https://openalex.org/I4210129938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437179","display_name":"Xu Zhang","orcid":"https://orcid.org/0000-0001-8236-3072"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Zhang","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460905","display_name":"Hui Wang","orcid":"https://orcid.org/0000-0003-1863-4813"},"institutions":[{"id":"https://openalex.org/I4210129938","display_name":"Guangzhou Maritime College","ror":"https://ror.org/03kzcrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210129938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wang","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China","institution_ids":["https://openalex.org/I4210129938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101637435","display_name":"Dan Xiang","orcid":"https://orcid.org/0009-0003-5857-9326"},"institutions":[{"id":"https://openalex.org/I4210129938","display_name":"Guangzhou Maritime College","ror":"https://ror.org/03kzcrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210129938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Xiang","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China","institution_ids":["https://openalex.org/I4210129938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192797","display_name":"Mingming Xiao","orcid":"https://orcid.org/0000-0003-1667-4416"},"institutions":[{"id":"https://openalex.org/I4210129938","display_name":"Guangzhou Maritime College","ror":"https://ror.org/03kzcrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210129938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingming Xiao","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China","institution_ids":["https://openalex.org/I4210129938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101442875","display_name":"Zhiyu Zhu","orcid":"https://orcid.org/0000-0003-4097-9172"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyu Zhu","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100436103","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0003-1887-6222"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5031949135"],"corresponding_institution_ids":["https://openalex.org/I4210129938"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.5247,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88976301,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"23","issue":"20","first_page":"8655","last_page":"8655"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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":0.9976999759674072,"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/visual-odometry","display_name":"Visual odometry","score":0.9210182428359985},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7962090969085693},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.758023738861084},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7389923930168152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7374926805496216},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7064487934112549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6564470529556274},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6318408250808716},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5157349705696106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09673058986663818},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08582413196563721},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08481189608573914}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.9210182428359985},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7962090969085693},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.758023738861084},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7389923930168152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7374926805496216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7064487934112549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564470529556274},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6318408250808716},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5157349705696106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09673058986663818},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08582413196563721},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08481189608573914},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23208655","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208655","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8655/pdf?version=1698115567","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:37896748","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37896748","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:pubmedcentral.nih.gov:10611077","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10611077","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10611077/pdf/sensors-23-08655.pdf","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:doaj.org/article:0a2d794521184ee981e9ece99e866e49","is_oa":true,"landing_page_url":"https://doaj.org/article/0a2d794521184ee981e9ece99e866e49","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 20, p 8655 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23208655","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208655","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8655/pdf?version=1698115567","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":"No poverty","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/1"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2597775472","display_name":null,"funder_award_id":"21013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3744313044","display_name":null,"funder_award_id":"Social","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G416698210","display_name":null,"funder_award_id":"41906154","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4286972996","display_name":null,"funder_award_id":"52101358","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4474037683","display_name":null,"funder_award_id":"419061","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6058138561","display_name":null,"funder_award_id":", No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6970643536","display_name":null,"funder_award_id":"BE2022783","funder_id":"https://openalex.org/F4320327777","funder_display_name":"Jiangsu Provincial Key Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327777","display_name":"Jiangsu Provincial Key Research and Development Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387908690.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1531532259","https://openalex.org/W1539091696","https://openalex.org/W1579142030","https://openalex.org/W1627400044","https://openalex.org/W1968315983","https://openalex.org/W2015996585","https://openalex.org/W2027055074","https://openalex.org/W2064169939","https://openalex.org/W2064451896","https://openalex.org/W2085261163","https://openalex.org/W2124313187","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2884962765","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W6678941962"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0,47,100],"this":[1,140,192],"paper,":[2],"we":[3],"propose":[4],"a":[5,111,124],"robust":[6],"and":[7,16,25,28,60,72,109,134,187,196],"integrated":[8],"visual":[9,51,141],"odometry":[10,32,52,142,182],"framework":[11],"exploiting":[12],"the":[13,31,42,48,82,91,119,136,145,154,166,179,199,203,215,218],"optical":[14,37,69,76,92,106],"flow":[15,38,70,77,93,107],"feature":[17,43,57,62,84,120],"point":[18,44,58,63,85,121],"method":[19,35,59,86,122,193],"that":[20,164,172],"achieves":[21],"faster":[22],"pose":[23,97,150,159],"estimate":[24,95],"considerable":[26],"accuracy":[27,186],"robustness":[29],"during":[30],"process.":[33,46],"Our":[34],"utilizes":[36,87],"tracking":[39,71,78,108],"to":[40,94,161],"accelerate":[41],"matching":[45,79],"odometry,":[49,169],"two":[50,137],"methods":[53],"are":[54],"used:":[55],"global":[56],"local":[61,83],"method.":[64],"When":[65],"there":[66,103],"is":[67,80,104,127,174],"good":[68],"enough":[73],"key":[74,115],"points":[75,116],"successful,":[81],"prior":[88],"information":[89],"from":[90,178],"relative":[96,149,158],"transformation":[98],"information.":[99],"cases":[101],"where":[102],"poor":[105],"only":[110],"small":[112],"number":[113],"of":[114,157,163,165,185,191,217],"successfully":[117],"match,":[118],"with":[123],"filtering":[125],"mechanism":[126],"used":[128],"for":[129,148,214],"posing":[130],"estimation.":[131,151],"By":[132],"coupling":[133],"correlating":[135],"aforementioned":[138],"methods,":[139],"greatly":[143],"accelerates":[144],"computation":[146,155],"time":[147,156],"It":[152],"reduces":[153],"estimation":[160],"40%":[162],"ORB_SLAM3":[167,180,204],"front-end":[168,181],"while":[170],"ensuring":[171],"it":[173],"not":[175],"too":[176],"different":[177],"in":[183],"terms":[184],"robustness.":[188],"The":[189,207],"effectiveness":[190],"was":[194],"validated":[195],"analyzed":[197],"using":[198],"EUROC":[200],"dataset":[201],"within":[202],"open-source":[205],"framework.":[206],"experimental":[208],"results":[209],"serve":[210],"as":[211],"supporting":[212],"evidence":[213],"efficacy":[216],"proposed":[219],"approach.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
