{"id":"https://openalex.org/W4388831035","doi":"https://doi.org/10.3390/s23229274","title":"A Lightweight Visual Simultaneous Localization and Mapping Method with a High Precision in Dynamic Scenes","display_name":"A Lightweight Visual Simultaneous Localization and Mapping Method with a High Precision in Dynamic Scenes","publication_year":2023,"publication_date":"2023-11-19","ids":{"openalex":"https://openalex.org/W4388831035","doi":"https://doi.org/10.3390/s23229274","pmid":"https://pubmed.ncbi.nlm.nih.gov/38005660"},"language":"en","primary_location":{"id":"doi:10.3390/s23229274","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229274","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9274/pdf?version=1700443730","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/1424-8220/23/22/9274/pdf?version=1700443730","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100360395","display_name":"Qi Zhang","orcid":"https://orcid.org/0000-0003-0235-1333"},"institutions":[{"id":"https://openalex.org/I119273862","display_name":"Central South University of Forestry and Technology","ror":"https://ror.org/02czw2k81","country_code":"CN","type":"education","lineage":["https://openalex.org/I119273862"]},{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China","institution_ids":["https://openalex.org/I119273862","https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016091926","display_name":"Wentao Yu","orcid":"https://orcid.org/0000-0003-4457-3348"},"institutions":[{"id":"https://openalex.org/I119273862","display_name":"Central South University of Forestry and Technology","ror":"https://ror.org/02czw2k81","country_code":"CN","type":"education","lineage":["https://openalex.org/I119273862"]},{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wentao Yu","raw_affiliation_strings":["School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China","institution_ids":["https://openalex.org/I119273862","https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079841400","display_name":"Weirong Liu","orcid":"https://orcid.org/0000-0002-6207-9100"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weirong Liu","raw_affiliation_strings":["School of Computer, Central South University, Changsha 410083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101430205","display_name":"Hao Xu","orcid":"https://orcid.org/0009-0002-4296-9883"},"institutions":[{"id":"https://openalex.org/I119273862","display_name":"Central South University of Forestry and Technology","ror":"https://ror.org/02czw2k81","country_code":"CN","type":"education","lineage":["https://openalex.org/I119273862"]},{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xu","raw_affiliation_strings":["School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China","institution_ids":["https://openalex.org/I119273862","https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102581369","display_name":"Yuan He","orcid":null},"institutions":[{"id":"https://openalex.org/I119273862","display_name":"Central South University of Forestry and Technology","ror":"https://ror.org/02czw2k81","country_code":"CN","type":"education","lineage":["https://openalex.org/I119273862"]},{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan He","raw_affiliation_strings":["School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Information Engineering, Central South University of Forestry and Technology, Changsha 410018, China","institution_ids":["https://openalex.org/I119273862","https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016091926"],"corresponding_institution_ids":["https://openalex.org/I119273862","https://openalex.org/I139660479"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.7504,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94922922,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"23","issue":"22","first_page":"9274","last_page":"9274"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7196172475814819},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.711005687713623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6430233120918274},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6020268201828003},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5829267501831055},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.578851580619812},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.52717125415802},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5145854353904724},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.4940965473651886},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4789881706237793},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.47747802734375},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32503873109817505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10068824887275696},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0697871744632721}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7196172475814819},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.711005687713623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6430233120918274},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6020268201828003},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5829267501831055},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.578851580619812},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.52717125415802},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5145854353904724},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.4940965473651886},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4789881706237793},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.47747802734375},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32503873109817505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10068824887275696},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0697871744632721},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23229274","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229274","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9274/pdf?version=1700443730","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:38005660","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38005660","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:10675022","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10675022","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10675022/pdf/sensors-23-09274.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:43d156139c24418cab526f2cd6641eeb","is_oa":true,"landing_page_url":"https://doaj.org/article/43d156139c24418cab526f2cd6641eeb","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 23, Iss 22, p 9274 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/22/9274/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23229274","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23229274","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229274","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9274/pdf?version=1700443730","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388831035.pdf"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1964470102","https://openalex.org/W2076917298","https://openalex.org/W2109120418","https://openalex.org/W2151290401","https://openalex.org/W2472201084","https://openalex.org/W2529254295","https://openalex.org/W2560023338","https://openalex.org/W2621274416","https://openalex.org/W2735010494","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W3016662517","https://openalex.org/W3019173623","https://openalex.org/W3021126357","https://openalex.org/W3035414587","https://openalex.org/W3036081678","https://openalex.org/W3043971245","https://openalex.org/W3044149300","https://openalex.org/W3090298435","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3108513211","https://openalex.org/W3117935769","https://openalex.org/W3121611132","https://openalex.org/W3136173504","https://openalex.org/W3177052299","https://openalex.org/W3183750298","https://openalex.org/W3185918112","https://openalex.org/W3196725351","https://openalex.org/W4200250398","https://openalex.org/W4205580542","https://openalex.org/W4206096565","https://openalex.org/W4210938782","https://openalex.org/W4220806879","https://openalex.org/W4226245697","https://openalex.org/W4281611374","https://openalex.org/W4283373333","https://openalex.org/W4308602228","https://openalex.org/W4309725620","https://openalex.org/W4312069203","https://openalex.org/W6668041581","https://openalex.org/W6676345416"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W2069592018","https://openalex.org/W2075740387","https://openalex.org/W3127959533","https://openalex.org/W2358990940","https://openalex.org/W2004323682","https://openalex.org/W2894986065","https://openalex.org/W4387967917","https://openalex.org/W28570768","https://openalex.org/W2055243143"],"abstract_inverted_index":{"Currently,":[0],"in":[1,11,15,20,199],"most":[2],"traditional":[3],"VSLAM":[4,56,63,239],"(visual":[5],"SLAM)":[6],"systems,":[7],"static":[8,119],"assumptions":[9],"result":[10,19],"a":[12,21,42,46,52,61,230,253],"low":[13,47],"accuracy":[14,27,44,71,208,255],"dynamic":[16,39,100,142,149,195,218],"environments,":[17],"or":[18],"new":[22,62],"and":[23,45,72,75,114,139,181,224],"higher":[24],"level":[25],"of":[26,32,86,111,118,154,168,178,187,209],"but":[28],"at":[29,107],"the":[30,34,66,79,84,88,108,112,127,133,152,157,165,169,176,183,188,193,202,205,210,227,245],"cost":[31,49],"sacrificing":[33],"real-time":[35,249],"property.":[36],"In":[37,215,235],"highly":[38],"scenes,":[40],"balancing":[41,65],"high":[43],"computational":[48,73,155],"has":[50,229,247],"become":[51],"pivotal":[53],"requirement":[54],"for":[55,123],"systems.":[57],"This":[58],"paper":[59],"proposes":[60],"system,":[64,113,204],"competitive":[67],"demands":[68],"between":[69],"positioning":[70,233],"complexity":[74],"thereby":[76],"further":[77],"improving":[78,182],"overall":[80,184],"system":[81,89,211,228,246],"properties.":[82],"From":[83,151],"perspective":[85,153],"accuracy,":[87],"applies":[90],"an":[91],"improved":[92,212,232],"lightweight":[93,158],"target":[94,134,170],"detection":[95,135,171],"network":[96,136,159,167,172],"to":[97,137,144],"quickly":[98],"detect":[99],"feature":[101,105,116],"points":[102,106,117],"while":[103,251],"extracting":[104],"front":[109],"end":[110],"only":[115],"targets":[120],"are":[121],"applied":[122,163],"frame":[124],"matching.":[125],"Meanwhile,":[126],"attention":[128],"mechanism":[129],"is":[130,162],"integrated":[131],"into":[132],"continuously":[138],"accurately":[140],"capture":[141],"factors":[143],"cope":[145],"with":[146,201,217,237],"more":[147],"complex":[148],"environments.":[150],"expense,":[156],"Ghostnet":[160],"module":[161],"as":[164,222],"backbone":[166],"YOLOv5s,":[173],"significantly":[174,231],"reducing":[175],"number":[177],"model":[179],"parameters":[180],"inference":[185],"speed":[186],"algorithm.":[189],"Experimental":[190],"results":[191],"on":[192,242],"TUM":[194],"dataset":[196],"indicate":[197],"that":[198],"contrast":[200,216,236],"ORB-SLAM3":[203],"pose":[206],"estimation":[207],"by":[213],"84.04%.":[214],"SLAM":[219],"systems":[220],"such":[221],"DS-SLAM":[223],"DVO":[225],"SLAM,":[226],"accuracy.":[234],"other":[238],"algorithms":[240],"based":[241],"deep":[243],"learning,":[244],"superior":[248],"properties":[250],"maintaining":[252],"similar":[254],"index.":[256]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
