{"id":"https://openalex.org/W4415454961","doi":"https://doi.org/10.1017/s0263574725102701","title":"Integrating gray area feature points and static probability to enhance the performance of indoor dynamic visual simultaneous localization and mapping","display_name":"Integrating gray area feature points and static probability to enhance the performance of indoor dynamic visual simultaneous localization and mapping","publication_year":2025,"publication_date":"2025-10-23","ids":{"openalex":"https://openalex.org/W4415454961","doi":"https://doi.org/10.1017/s0263574725102701"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102701","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102701","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100682237","display_name":"Huilin Liu","orcid":"https://orcid.org/0000-0002-0798-7931"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilin Liu","raw_affiliation_strings":["Anhui University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Science and Technology","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lunqi Yu","orcid":"https://orcid.org/0009-0006-2714-7397"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lunqi Yu","raw_affiliation_strings":["Anhui University of Science and Technology"],"raw_orcid":"https://orcid.org/0009-0006-2714-7397","affiliations":[{"raw_affiliation_string":"Anhui University of Science and Technology","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101305668","display_name":"Shenghui Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159835","display_name":"Perceptive Engineering (United Kingdom)","ror":"https://ror.org/05qep9y26","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210159835"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shenghui Zhao","raw_affiliation_strings":["Anhui Engineering Research Center of Intelligent Perception and Elderly Care"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Engineering Research Center of Intelligent Perception and Elderly Care","institution_ids":["https://openalex.org/I4210159835"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I184681353"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37730187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"11","first_page":"4064","last_page":"4087"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"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/robustness","display_name":"Robustness (evolution)","score":0.7605999708175659},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5857999920845032},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5687999725341797},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.47690001130104065},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.46619999408721924},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.35830000042915344},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.33660000562667847}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7605999708175659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7465999722480774},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7166000008583069},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6564000248908997},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5857999920845032},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5687999725341797},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.47690001130104065},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.33660000562667847},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3294000029563904},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.32589998841285706},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.30630001425743103},{"id":"https://openalex.org/C2776836416","wikidata":"https://www.wikidata.org/wiki/Q1364844","display_name":"False alarm","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.26759999990463257}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102701","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102701","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W2021851106","https://openalex.org/W2035379092","https://openalex.org/W2076917298","https://openalex.org/W2115579991","https://openalex.org/W2152671441","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2806070179","https://openalex.org/W2808571300","https://openalex.org/W2945487881","https://openalex.org/W2950989657","https://openalex.org/W2982437619","https://openalex.org/W2999502853","https://openalex.org/W3003179103","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3044149300","https://openalex.org/W3089936780","https://openalex.org/W3098710403","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3146882494","https://openalex.org/W3208848898","https://openalex.org/W3214256989","https://openalex.org/W4205725812","https://openalex.org/W4206082678","https://openalex.org/W4293225101","https://openalex.org/W4309192642","https://openalex.org/W4313477060","https://openalex.org/W4366283111","https://openalex.org/W4367663104","https://openalex.org/W4378697007","https://openalex.org/W4387010217","https://openalex.org/W4387805855","https://openalex.org/W4388621479","https://openalex.org/W4392931743","https://openalex.org/W4399629394","https://openalex.org/W4399701362","https://openalex.org/W4399995607","https://openalex.org/W4400100046","https://openalex.org/W4406187296"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"In":[1],"dynamic":[2,24,45,92,192,223],"environments,":[3],"moving":[4],"objects":[5],"pose":[6,213],"a":[7,53,140],"great":[8],"challenge":[9],"to":[10,39,85,148,151],"the":[11,72,100,112,128,163,167,182,195,201],"accuracy":[12,188,215],"and":[13,19,32,66,79,103,115,127,157,178,189,216,220],"robustness":[14,190,219],"of":[15,75,130],"visual":[16],"simultaneous":[17],"localization":[18,187],"mapping":[20],"(VSLAM)":[21],"systems.":[22],"Traditional":[23],"VSLAM":[25],"methods":[26,34],"rely":[27],"on":[28,162,200],"hand-designed":[29],"feature":[30,42,61,89,95,107,121,134,155],"frames,":[31],"these":[33,131,152],"usually":[35],"make":[36],"it":[37],"difficult":[38],"fully":[40],"utilize":[41],"information":[43],"in":[44,191,222],"regions.":[46,93],"To":[47],"this":[48,50],"end,":[49],"paper":[51],"proposes":[52],"SLAM":[54],"system":[55,183],"(GAF-SLAM)":[56],"that":[57,209],"combines":[58],"gray":[59,87,132,153],"area":[60,88,133,154],"points,":[62],"weighted":[63],"static":[64,106,120,142,173],"probabilities,":[65],"spatio-temporal":[67],"constraints.":[68],"This":[69],"method":[70,197],"realizes":[71],"efficient":[73],"fusion":[74],"key":[76],"point":[77,108],"detection":[78,81,101],"target":[80],"by":[82],"introducing":[83],"YOLO-Point":[84],"extract":[86],"points":[90,96,122,135,156],"from":[91],"These":[94],"are":[97,123],"located":[98],"within":[99],"frame":[102],"have":[104],"potentially":[105],"properties.":[109],"By":[110,171],"combining":[111,172],"reprojection":[113],"error":[114],"polar":[116],"geometry":[117],"constraints,":[118,181],"potential":[119],"effectively":[124],"screened":[125],"out":[126],"identification":[129],"is":[136,146],"further":[137],"optimized.":[138],"Subsequently,":[139],"novel":[141],"probabilistic":[143],"computational":[144],"framework":[145],"designed":[147],"assign":[149],"weights":[150],"dynamically":[158],"adjust":[159],"their":[160],"influence":[161],"optimization":[164],"results":[165,207],"during":[166],"attitude":[168],"estimation":[169,214],"process.":[170],"probability":[174],"with":[175],"temporal":[176],"continuity":[177],"spatial":[179],"smoothness":[180],"achieves":[184],"significantly":[185,211],"improved":[186],"environments.":[193,225],"Finally,":[194],"proposed":[196],"was":[198],"evaluated":[199],"TUM":[202],"RGB-D":[203],"dataset.":[204],"The":[205],"experimental":[206],"demonstrate":[208],"GAF-SLAM":[210],"improves":[212],"exhibits":[217],"strong":[218],"stability":[221],"indoor":[224]},"counts_by_year":[],"updated_date":"2026-01-30T23:17:42.513302","created_date":"2025-10-23T00:00:00"}
