{"id":"https://openalex.org/W2945487881","doi":"https://doi.org/10.3390/rs11101143","title":"A New RGB-D SLAM Method with Moving Object Detection for Dynamic Indoor Scenes","display_name":"A New RGB-D SLAM Method with Moving Object Detection for Dynamic Indoor Scenes","publication_year":2019,"publication_date":"2019-05-14","ids":{"openalex":"https://openalex.org/W2945487881","doi":"https://doi.org/10.3390/rs11101143","mag":"2945487881"},"language":"en","primary_location":{"id":"doi:10.3390/rs11101143","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11101143","pdf_url":"https://www.mdpi.com/2072-4292/11/10/1143/pdf?version=1557817171","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/11/10/1143/pdf?version=1557817171","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067001014","display_name":"Runzhi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210166112","display_name":"State Key Laboratory of Remote Sensing Science","ror":"https://ror.org/05wzjqa24","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210166112"]},{"id":"https://openalex.org/I4210128053","display_name":"Institute of Remote Sensing and Digital Earth","ror":"https://ror.org/02cjszf03","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128053"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runzhi Wang","raw_affiliation_strings":["College of Resources and Environment, University of Chinese Academy of Sciences, Beijing 100049, China","State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China"],"affiliations":[{"raw_affiliation_string":"College of Resources and Environment, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China","institution_ids":["https://openalex.org/I4210166112","https://openalex.org/I4210128053","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103902754","display_name":"Wenhui Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166112","display_name":"State Key Laboratory of Remote Sensing Science","ror":"https://ror.org/05wzjqa24","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210166112"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128053","display_name":"Institute of Remote Sensing and Digital Earth","ror":"https://ror.org/02cjszf03","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128053"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhui Wan","raw_affiliation_strings":["State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China","institution_ids":["https://openalex.org/I4210166112","https://openalex.org/I4210128053","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101457847","display_name":"Yongkang Wang","orcid":"https://orcid.org/0000-0001-9768-3060"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkang Wang","raw_affiliation_strings":["School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China"],"affiliations":[{"raw_affiliation_string":"School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017937533","display_name":"Kaichang Di","orcid":"https://orcid.org/0000-0001-6581-6615"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210166112","display_name":"State Key Laboratory of Remote Sensing Science","ror":"https://ror.org/05wzjqa24","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210166112"]},{"id":"https://openalex.org/I4210128053","display_name":"Institute of Remote Sensing and Digital Earth","ror":"https://ror.org/02cjszf03","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128053"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kaichang Di","raw_affiliation_strings":["State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China","institution_ids":["https://openalex.org/I4210166112","https://openalex.org/I4210128053","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017937533"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128053","https://openalex.org/I4210166112"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":79.0387,"has_fulltext":true,"cited_by_count":128,"citation_normalized_percentile":{"value":0.99839383,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"11","issue":"10","first_page":"1143","last_page":"1143"},"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":0.9984999895095825,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-vision","display_name":"Computer vision","score":0.8238787651062012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8175379037857056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7672502398490906},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7397003173828125},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6445832252502441},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5589630603790283},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5082554221153259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42145371437072754},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20828774571418762}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8238787651062012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8175379037857056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7672502398490906},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7397003173828125},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6445832252502441},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5589630603790283},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5082554221153259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42145371437072754},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20828774571418762},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs11101143","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11101143","pdf_url":"https://www.mdpi.com/2072-4292/11/10/1143/pdf?version=1557817171","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6c4e9098387048c8bcf12c3c89328c74","is_oa":true,"landing_page_url":"https://doaj.org/article/6c4e9098387048c8bcf12c3c89328c74","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":"Remote Sensing, Vol 11, Iss 10, p 1143 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/11/10/1143/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs11101143","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":"Remote Sensing; Volume 11; Issue 10; Pages: 1143","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs11101143","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11101143","pdf_url":"https://www.mdpi.com/2072-4292/11/10/1143/pdf?version=1557817171","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G7795442269","display_name":null,"funder_award_id":"2016YFB0502102","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8114646031","display_name":null,"funder_award_id":"2016Y","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8956838271","display_name":null,"funder_award_id":"2018YFB1305004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2945487881.pdf","grobid_xml":"https://content.openalex.org/works/W2945487881.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1180867177","https://openalex.org/W1561442812","https://openalex.org/W1964470102","https://openalex.org/W1979266466","https://openalex.org/W1982821407","https://openalex.org/W1991544872","https://openalex.org/W2010360724","https://openalex.org/W2020310389","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2022406968","https://openalex.org/W2029309217","https://openalex.org/W2032386486","https://openalex.org/W2038338241","https://openalex.org/W2044670959","https://openalex.org/W2047328415","https://openalex.org/W2053740312","https://openalex.org/W2064451896","https://openalex.org/W2076917298","https://openalex.org/W2099107932","https://openalex.org/W2104431395","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2127578024","https://openalex.org/W2133250001","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2152671441","https://openalex.org/W2155583629","https://openalex.org/W2167667767","https://openalex.org/W2411093439","https://openalex.org/W2411918187","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2735010494","https://openalex.org/W2794473124","https://openalex.org/W2796916234","https://openalex.org/W2802671577","https://openalex.org/W2911596153","https://openalex.org/W2963200201","https://openalex.org/W3102327032","https://openalex.org/W4243055393","https://openalex.org/W4243987629","https://openalex.org/W6633448853"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W2486460843","https://openalex.org/W4288626232","https://openalex.org/W2168109476","https://openalex.org/W1968121071","https://openalex.org/W2061647633","https://openalex.org/W8302103","https://openalex.org/W2542348219"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,14,19,88,91,122,151],"mapping":[3],"(SLAM)":[4],"methods":[5,26,36],"based":[6,84],"on":[7,85,116],"an":[8],"RGB-D":[9,64,120,147],"camera":[10],"have":[11,27],"been":[12,28],"studied":[13],"used":[15],"in":[16,56,135,155],"robot":[17],"navigation":[18],"perception.":[20],"So":[21],"far,":[22],"most":[23],"such":[24,48],"SLAM":[25,65,98,148],"applied":[29],"to":[30,107],"a":[31,62,101,123],"static":[32],"environment.":[33],"However,":[34],"these":[35],"are":[37],"incapable":[38],"of":[39,144],"avoiding":[40],"the":[41,97,109,117],"drift":[42],"errors":[43],"caused":[44],"by":[45],"moving":[46,67,81],"objects":[47,82],"as":[49,100],"pedestrians,":[50],"which":[51],"limits":[52],"their":[53],"practical":[54],"performance":[55],"real-world":[57],"applications.":[58],"In":[59,105],"this":[60],"paper,":[61],"new":[63],"with":[66],"object":[68],"detection":[69,78],"for":[70,80],"dynamic":[71,137,156],"indoor":[72,138,157],"scenes":[73],"is":[74,83],"proposed.":[75],"The":[76,140],"proposed":[77,110],"method":[79],"mathematical":[86],"models":[87],"geometric":[89],"constraints,":[90],"it":[92],"can":[93],"be":[94],"incorporated":[95],"into":[96],"process":[99],"data":[102],"filtering":[103],"process.":[104],"order":[106],"verify":[108],"method,":[111],"we":[112],"conducted":[113],"sufficient":[114],"experiments":[115],"public":[118],"TUM":[119],"dataset":[121,126],"sequence":[124],"image":[125],"from":[127],"our":[128,145],"Kinect":[129],"V1":[130],"camera;":[131],"both":[132],"were":[133,149],"acquired":[134],"common":[136],"scenes.":[139,158],"detailed":[141],"experimental":[142],"results":[143],"improved":[146],"summarized":[150],"demonstrate":[152],"its":[153],"effectiveness":[154]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-19T08:26:33.389920","created_date":"2025-10-10T00:00:00"}