{"id":"https://openalex.org/W4390879657","doi":"https://doi.org/10.3390/s24020536","title":"RC-SLAM: Road Constrained Stereo Visual SLAM System Based on Graph Optimization","display_name":"RC-SLAM: Road Constrained Stereo Visual SLAM System Based on Graph Optimization","publication_year":2024,"publication_date":"2024-01-15","ids":{"openalex":"https://openalex.org/W4390879657","doi":"https://doi.org/10.3390/s24020536","pmid":"https://pubmed.ncbi.nlm.nih.gov/38257631"},"language":"en","primary_location":{"id":"doi:10.3390/s24020536","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020536","pdf_url":"https://www.mdpi.com/1424-8220/24/2/536/pdf?version=1705323907","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/1424-8220/24/2/536/pdf?version=1705323907","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046009262","display_name":"Yuan Zhu","orcid":"https://orcid.org/0000-0003-1372-9135"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zhu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai 201800, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai 201800, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033006197","display_name":"Hao An","orcid":"https://orcid.org/0000-0001-5722-605X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao An","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai 201800, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai 201800, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104242966","display_name":"Huaide Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaide Wang","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai 201800, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai 201800, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081192741","display_name":"Ruidong Xu","orcid":"https://orcid.org/0000-0002-2991-1874"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruidong Xu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai 201800, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai 201800, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036730619","display_name":"Mingzhi Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhi Wu","raw_affiliation_strings":["Nanchang Automotive Institute of Intelligence & New Energy, Tongji University, Nanchang 330038, China"],"affiliations":[{"raw_affiliation_string":"Nanchang Automotive Institute of Intelligence & New Energy, Tongji University, Nanchang 330038, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014773324","display_name":"Ke Lu","orcid":"https://orcid.org/0000-0001-9166-4790"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ke Lu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai 201800, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai 201800, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014773324"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":15.3557,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9840625,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"24","issue":"2","first_page":"536","last_page":"536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.8992596864700317},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.676008403301239},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6631256937980652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6523301005363464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5712805986404419},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.500603199005127},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4894222319126129},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.42377936840057373},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4175945520401001},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41741296648979187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2409859299659729},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16224271059036255},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14587321877479553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11666232347488403},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0927564799785614}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8992596864700317},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.676008403301239},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6631256937980652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6523301005363464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5712805986404419},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.500603199005127},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4894222319126129},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.42377936840057373},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4175945520401001},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41741296648979187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2409859299659729},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16224271059036255},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14587321877479553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11666232347488403},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0927564799785614},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24020536","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020536","pdf_url":"https://www.mdpi.com/1424-8220/24/2/536/pdf?version=1705323907","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:38257631","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38257631","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:11154416","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11154416","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11154416/pdf/sensors-24-00536.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:bc225a7bd6cd4109a3553c2859e23ec4","is_oa":true,"landing_page_url":"https://doaj.org/article/bc225a7bd6cd4109a3553c2859e23ec4","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 24, Iss 2, p 536 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24020536","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020536","pdf_url":"https://www.mdpi.com/1424-8220/24/2/536/pdf?version=1705323907","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":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G606986578","display_name":null,"funder_award_id":"TPD-TC202211-07","funder_id":"https://openalex.org/F4320322449","funder_display_name":"Tongji University"}],"funders":[{"id":"https://openalex.org/F4320322449","display_name":"Tongji University","ror":"https://ror.org/03rc6as71"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4390879657.pdf"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1493943598","https://openalex.org/W1650118447","https://openalex.org/W1988874269","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2071626497","https://openalex.org/W2091790851","https://openalex.org/W2114345307","https://openalex.org/W2115579991","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2149115159","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2766213449","https://openalex.org/W2801403503","https://openalex.org/W2895006792","https://openalex.org/W2908603664","https://openalex.org/W2937713253","https://openalex.org/W2963854007","https://openalex.org/W2964309882","https://openalex.org/W2968618084","https://openalex.org/W2971185490","https://openalex.org/W3003813985","https://openalex.org/W3035035451","https://openalex.org/W3043971245","https://openalex.org/W3098410961","https://openalex.org/W3099913005","https://openalex.org/W3102327032","https://openalex.org/W3122767460","https://openalex.org/W3124420883","https://openalex.org/W3126830741","https://openalex.org/W3126851256","https://openalex.org/W3132919786","https://openalex.org/W3148325332","https://openalex.org/W3176258611","https://openalex.org/W3181051035","https://openalex.org/W3187439856","https://openalex.org/W3203597819","https://openalex.org/W4210669721","https://openalex.org/W4234983329","https://openalex.org/W4281611374","https://openalex.org/W4283166616","https://openalex.org/W4283832649","https://openalex.org/W4285102123","https://openalex.org/W4286540455","https://openalex.org/W4286543692","https://openalex.org/W4309742837","https://openalex.org/W4320008873","https://openalex.org/W4321458293","https://openalex.org/W4382762881","https://openalex.org/W4383097497","https://openalex.org/W4388948373"],"related_works":["https://openalex.org/W2182991573","https://openalex.org/W2356063813","https://openalex.org/W2795286939","https://openalex.org/W2047311859","https://openalex.org/W2365196554","https://openalex.org/W2170198060","https://openalex.org/W1986525613","https://openalex.org/W2096798195","https://openalex.org/W2061723032","https://openalex.org/W1499216665"],"abstract_inverted_index":{"Intelligent":[0],"vehicles":[1,34],"are":[2,102,129],"constrained":[3],"by":[4,134,193],"road,":[5],"resulting":[6],"in":[7,35,113,124],"a":[8,48,71,154,204],"disparity":[9],"between":[10,97,138,196],"the":[11,20,29,65,98,114,119,136,167,183,197,209,212],"assumed":[12,109],"six":[13,110],"degrees":[14],"of":[15,33,67,86,121,169,190,211],"freedom":[16],"(DoF)":[17],"motion":[18,32,112],"within":[19],"Visual":[21,50],"Simultaneous":[22],"Localization":[23],"and":[24,28,83,100,142,173,199],"Mapping":[25],"(SLAM)":[26],"system":[27,52,185],"approximate":[30,77],"planar":[31],"local":[36,78,87],"areas,":[37],"inevitably":[38],"causing":[39],"additional":[40],"pose":[41],"estimation":[42,147],"errors.":[43],"To":[44],"address":[45],"this":[46],"problem,":[47],"stereo":[49],"SLAM":[51],"with":[53],"road":[54,88,125,139],"constraints":[55,96,128,195],"based":[56,159],"on":[57,160,178,203],"graph":[58,161],"optimization":[59,157,162],"is":[60,74,148,163],"proposed,":[61],"called":[62],"RC-SLAM.":[63],"Addressing":[64],"challenge":[66],"representing":[68],"roads":[69,79],"parametrically,":[70],"novel":[72],"method":[73],"proposed":[75,184,213],"to":[76,117,131],"as":[80],"discrete":[81],"planes":[82,89],"extract":[84],"parameters":[85],"(LRPs)":[90],"using":[91],"homography.":[92],"Unlike":[93],"conventional":[94],"methods,":[95],"vehicle":[99,170,191,198],"LRPs":[101],"established,":[103],"effectively":[104],"mitigating":[105],"errors":[106],"arising":[107],"from":[108],"DoF":[111],"system.":[115,214],"Furthermore,":[116],"avoid":[118],"impact":[120],"depth":[122,151],"uncertainty":[123],"features,":[126],"epipolar":[127,143],"employed":[130],"estimate":[132],"rotation":[133,146],"minimizing":[135],"distance":[137],"feature":[140],"points":[141],"lines,":[144],"robust":[145],"achieved":[149,186],"despite":[150],"uncertainties.":[152],"Notably,":[153],"distinctive":[155],"nonlinear":[156],"model":[158],"presented,":[164],"jointly":[165],"optimizing":[166],"poses":[168],"trajectories,":[171],"LPRs,":[172],"map":[174],"points.":[175],"The":[176,201],"experiments":[177,202],"two":[179],"datasets":[180],"demonstrate":[181],"that":[182],"more":[187],"accurate":[188],"estimations":[189],"trajectories":[192],"introducing":[194],"LRPs.":[200],"real-world":[205],"dataset":[206],"further":[207],"validate":[208],"effectiveness":[210]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}