{"id":"https://openalex.org/W4411787430","doi":"https://doi.org/10.3390/a18070394","title":"A Survey of Visual SLAM Based on RGB-D Images Using Deep Learning and Comparative Study for VOE","display_name":"A Survey of Visual SLAM Based on RGB-D Images Using Deep Learning and Comparative Study for VOE","publication_year":2025,"publication_date":"2025-06-27","ids":{"openalex":"https://openalex.org/W4411787430","doi":"https://doi.org/10.3390/a18070394"},"language":"en","primary_location":{"id":"doi:10.3390/a18070394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18070394","pdf_url":"https://www.mdpi.com/1999-4893/18/7/394/pdf?version=1751029830","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/18/7/394/pdf?version=1751029830","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013372627","display_name":"Van-Hung Le","orcid":"https://orcid.org/0000-0003-4302-0581"},"institutions":[{"id":"https://openalex.org/I913630986","display_name":"Tra Vinh University","ror":"https://ror.org/05ghhgs79","country_code":"VN","type":"education","lineage":["https://openalex.org/I913630986"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Van-Hung Le","raw_affiliation_strings":["Information Technology Department, Tan Trao University, Tuyen Quang City 22000, Vietnam"],"affiliations":[{"raw_affiliation_string":"Information Technology Department, Tan Trao University, Tuyen Quang City 22000, Vietnam","institution_ids":["https://openalex.org/I913630986"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110175350","display_name":"Thanh-Minh Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I913630986","display_name":"Tra Vinh University","ror":"https://ror.org/05ghhgs79","country_code":"VN","type":"education","lineage":["https://openalex.org/I913630986"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Thi-Ha-Phuong Nguyen","raw_affiliation_strings":["Information Technology Department, Tan Trao University, Tuyen Quang City 22000, Vietnam"],"affiliations":[{"raw_affiliation_string":"Information Technology Department, Tan Trao University, Tuyen Quang City 22000, Vietnam","institution_ids":["https://openalex.org/I913630986"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013372627"],"corresponding_institution_ids":["https://openalex.org/I913630986"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06878617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"7","first_page":"394","last_page":"394"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"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":0.9957000017166138,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9746999740600586,"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":0.9699000120162964,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7047938704490662},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6486260890960693},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6364263296127319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5869439244270325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5568222999572754}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7047938704490662},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6486260890960693},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6364263296127319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5869439244270325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5568222999572754}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a18070394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18070394","pdf_url":"https://www.mdpi.com/1999-4893/18/7/394/pdf?version=1751029830","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:595893636a564b5e9bdd0e5ff4b2f150","is_oa":true,"landing_page_url":"https://doaj.org/article/595893636a564b5e9bdd0e5ff4b2f150","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":"Algorithms, Vol 18, Iss 7, p 394 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a18070394","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18070394","pdf_url":"https://www.mdpi.com/1999-4893/18/7/394/pdf?version=1751029830","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4411787430.pdf","grobid_xml":"https://content.openalex.org/works/W4411787430.grobid-xml"},"referenced_works_count":223,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W764651262","https://openalex.org/W1513100184","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1625949922","https://openalex.org/W1677409904","https://openalex.org/W1703761565","https://openalex.org/W1803059841","https://openalex.org/W1905829557","https://openalex.org/W1915250530","https://openalex.org/W1921093919","https://openalex.org/W1945298332","https://openalex.org/W1980911747","https://openalex.org/W1989476314","https://openalex.org/W1989484209","https://openalex.org/W2000356541","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2083833836","https://openalex.org/W2091226544","https://openalex.org/W2091790851","https://openalex.org/W2115579991","https://openalex.org/W2123681887","https://openalex.org/W2125416623","https://openalex.org/W2132947399","https://openalex.org/W2136703000","https://openalex.org/W2139905387","https://openalex.org/W2144824356","https://openalex.org/W2147253850","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2160110230","https://openalex.org/W2200124539","https://openalex.org/W2221366145","https://openalex.org/W2300779272","https://openalex.org/W2336961836","https://openalex.org/W2340897893","https://openalex.org/W2396274919","https://openalex.org/W2410664773","https://openalex.org/W2436453945","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2523049145","https://openalex.org/W2538522345","https://openalex.org/W2548459939","https://openalex.org/W2548527721","https://openalex.org/W2554243884","https://openalex.org/W2556215627","https://openalex.org/W2560474170","https://openalex.org/W2563475715","https://openalex.org/W2584731199","https://openalex.org/W2598706937","https://openalex.org/W2602709638","https://openalex.org/W2604909019","https://openalex.org/W2605111497","https://openalex.org/W2605938684","https://openalex.org/W2609883120","https://openalex.org/W2621274416","https://openalex.org/W2737260104","https://openalex.org/W2737630486","https://openalex.org/W2737940453","https://openalex.org/W2745859992","https://openalex.org/W2746639518","https://openalex.org/W2754177129","https://openalex.org/W2766144513","https://openalex.org/W2780351918","https://openalex.org/W2785746569","https://openalex.org/W2785901219","https://openalex.org/W2788857104","https://openalex.org/W2793083264","https://openalex.org/W2795645133","https://openalex.org/W2796461436","https://openalex.org/W2797395780","https://openalex.org/W2802671577","https://openalex.org/W2806446538","https://openalex.org/W2808571300","https://openalex.org/W2808629189","https://openalex.org/W2810477386","https://openalex.org/W2883923125","https://openalex.org/W2888816914","https://openalex.org/W2890949887","https://openalex.org/W2892805284","https://openalex.org/W2894983388","https://openalex.org/W2901543290","https://openalex.org/W2911652069","https://openalex.org/W2913260704","https://openalex.org/W2919379406","https://openalex.org/W2934270752","https://openalex.org/W2944474001","https://openalex.org/W2947326555","https://openalex.org/W2950989657","https://openalex.org/W2953504521","https://openalex.org/W2961343177","https://openalex.org/W2962705366","https://openalex.org/W2962816904","https://openalex.org/W2962864875","https://openalex.org/W2962867206","https://openalex.org/W2963024893","https://openalex.org/W2963045776","https://openalex.org/W2963110069","https://openalex.org/W2963203809","https://openalex.org/W2963265330","https://openalex.org/W2963357556","https://openalex.org/W2963359474","https://openalex.org/W2963384393","https://openalex.org/W2963562098","https://openalex.org/W2963583471","https://openalex.org/W2963591054","https://openalex.org/W2963632154","https://openalex.org/W2963654727","https://openalex.org/W2963748588","https://openalex.org/W2963782415","https://openalex.org/W2963962620","https://openalex.org/W2963999532","https://openalex.org/W2964014680","https://openalex.org/W2964156323","https://openalex.org/W2964226622","https://openalex.org/W2964314455","https://openalex.org/W2964968086","https://openalex.org/W2967115342","https://openalex.org/W2967352563","https://openalex.org/W2969053624","https://openalex.org/W2969365860","https://openalex.org/W2976722701","https://openalex.org/W2978132678","https://openalex.org/W2978855836","https://openalex.org/W2979458572","https://openalex.org/W2979633827","https://openalex.org/W2982361806","https://openalex.org/W2990791152","https://openalex.org/W2997201839","https://openalex.org/W2999242008","https://openalex.org/W3001044650","https://openalex.org/W3004411171","https://openalex.org/W3004749315","https://openalex.org/W3006017979","https://openalex.org/W3010889738","https://openalex.org/W3012164219","https://openalex.org/W3013130767","https://openalex.org/W3013957650","https://openalex.org/W3024745646","https://openalex.org/W3025835483","https://openalex.org/W3034403088","https://openalex.org/W3034604951","https://openalex.org/W3034953148","https://openalex.org/W3035056458","https://openalex.org/W3046981133","https://openalex.org/W3081164025","https://openalex.org/W3081809735","https://openalex.org/W3085725020","https://openalex.org/W3097009501","https://openalex.org/W3109908659","https://openalex.org/W3110903244","https://openalex.org/W3112020463","https://openalex.org/W3121611132","https://openalex.org/W3129238537","https://openalex.org/W3131673036","https://openalex.org/W3148176530","https://openalex.org/W3158187547","https://openalex.org/W3174091675","https://openalex.org/W3184594358","https://openalex.org/W3200586590","https://openalex.org/W4211154833","https://openalex.org/W4225108957","https://openalex.org/W4225988451","https://openalex.org/W4226136443","https://openalex.org/W4281642191","https://openalex.org/W4281685007","https://openalex.org/W4285130877","https://openalex.org/W4285273131","https://openalex.org/W4288809167","https://openalex.org/W4290755992","https://openalex.org/W4291172312","https://openalex.org/W4292261858","https://openalex.org/W4295122484","https://openalex.org/W4295920351","https://openalex.org/W4296430790","https://openalex.org/W4296875152","https://openalex.org/W4306174228","https://openalex.org/W4310626783","https://openalex.org/W4312698654","https://openalex.org/W4312878643","https://openalex.org/W4318824384","https://openalex.org/W4321185373","https://openalex.org/W4323020910","https://openalex.org/W4367321814","https://openalex.org/W4378717986","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386472944","https://openalex.org/W4386739308","https://openalex.org/W4390873101","https://openalex.org/W4390873648","https://openalex.org/W4391932015","https://openalex.org/W4392099314","https://openalex.org/W4392198997","https://openalex.org/W4394693077","https://openalex.org/W4399784606","https://openalex.org/W4400581064","https://openalex.org/W4400941237","https://openalex.org/W4402298491","https://openalex.org/W4402698355","https://openalex.org/W4408107277","https://openalex.org/W4408703639","https://openalex.org/W4408893796","https://openalex.org/W4409158698","https://openalex.org/W6684439383","https://openalex.org/W6685261749","https://openalex.org/W6687483927","https://openalex.org/W6703405610","https://openalex.org/W6712730493","https://openalex.org/W6738345448","https://openalex.org/W6747819399","https://openalex.org/W6752208963","https://openalex.org/W6754927042","https://openalex.org/W6759481064","https://openalex.org/W6766585452","https://openalex.org/W6772729640","https://openalex.org/W6789071911","https://openalex.org/W6791885654","https://openalex.org/W6839432872","https://openalex.org/W6843011535"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407"],"abstract_inverted_index":{"Visual":[0,39,71,102,127,142,155,167,177,209],"simultaneous":[1],"localization":[2],"and":[3,23,32,41,73,96,104,129,144,157,160,169,180,198,211,219,224,230,281,300,314],"mapping":[4],"(Visual":[5],"SLAM)":[6],"based":[7,106,121,189],"on":[8,107,122,176,190,204,234,253,275],"RGB-D":[9,76,132,279],"image":[10],"data":[11],"includes":[12],"two":[13],"main":[14],"tasks:":[15],"One":[16],"is":[17,26,81,114,266,289],"to":[18,27,116,125,150,165,207,262,271],"build":[19,166,208],"an":[20,82],"environment":[21],"map,":[22],"the":[24,30,58,66,92,99,112,138,141,152,191,216,226,236,254,272,276,285,294,306],"other":[25],"simultaneously":[28],"track":[29],"position":[31],"movement":[33],"of":[34,98,101,140,154,193,251,305],"visual":[35],"odometry":[36],"estimation":[37],"(VOE).":[38],"SLAM":[40,72,103,128,143,156,168,210],"VOE":[42,74,105,130,145,158,170,212,237,252,273],"are":[43,309],"used":[44],"in":[45,70,293,312],"many":[46],"applications,":[47],"such":[48],"as":[49],"robot":[50],"systems,":[51],"autonomous":[52],"mobile":[53],"robots,":[54],"assistance":[55],"systems":[56,213],"for":[57,137],"blind,":[59],"human\u2013machine":[60],"interaction,":[61],"industry,":[62],"etc.":[63],"To":[64],"solve":[65],"computer":[67],"vision":[68],"problems":[69],"from":[75,131,259],"images,":[77],"deep":[78],"learning":[79],"(DL)":[80],"approach":[83],"that":[84],"gives":[85],"very":[86,290],"convincing":[87],"results.":[88,200],"This":[89,265],"manuscript":[90],"examines":[91],"results,":[93],"advantages,":[94,218],"difficulties,":[95],"challenges":[97],"problem":[100],"DL.":[108],"In":[109,201],"this":[110],"paper,":[111],"taxonomy":[113],"proposed":[115,223],"conduct":[117],"a":[118,231,240,267],"complete":[119],"survey":[120],"three":[123],"methods":[124,274],"construct":[126],"images":[133],"(1)":[134],"using":[135,148,162,205,239],"DL":[136,149,164,206],"modules":[139,153],"systems;":[146,159],"(2)":[147],"supplement":[151],"(3)":[161],"end-to-end":[163],"systems.":[171],"The":[172,185,248,303],"220":[173],"scientific":[174],"publications":[175],"SLAM,":[178,280],"VOE,":[179],"related":[181],"issues":[182],"were":[183,187],"surveyed.":[184],"studies":[186,203],"surveyed":[188],"order":[192],"methods,":[194],"datasets,":[195],"evaluation":[196],"measures,":[197],"detailed":[199],"particular,":[202],"have":[214],"analyzed":[215],"challenges,":[217],"disadvantages.":[220],"We":[221],"also":[222,310],"published":[225],"TQU-SLAM":[227,255],"benchmark":[228,256],"dataset,":[229],"comparative":[232,307],"study":[233,308],"fine-tuning":[235],"model":[238],"Multi-Layer":[241],"Fusion":[242],"network":[243],"(MLF-VO)":[244],"framework":[245],"was":[246],"performed.":[247],"comparison":[249],"results":[250,304],"dataset":[257,286],"range":[258],"16.97":[260],"m":[261],"57.61":[263],"m.":[264],"huge":[268],"error":[269],"compared":[270],"KITTI,":[277],"TUM":[278],"ICL-NUIM":[282],"datasets.":[283],"Therefore,":[284],"we":[287],"publish":[288],"challenging,":[291],"especially":[292],"opposite":[295],"direction":[296],"(OP-D)":[297],"when":[298],"collecting":[299],"annotation":[301],"data.":[302],"presented":[311],"detail":[313],"available.":[315]},"counts_by_year":[],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}