{"id":"https://openalex.org/W4311053350","doi":"https://doi.org/10.3390/s22239362","title":"SLAM Back-End Optimization Algorithm Based on Vision Fusion IPS","display_name":"SLAM Back-End Optimization Algorithm Based on Vision Fusion IPS","publication_year":2022,"publication_date":"2022-12-01","ids":{"openalex":"https://openalex.org/W4311053350","doi":"https://doi.org/10.3390/s22239362","pmid":"https://pubmed.ncbi.nlm.nih.gov/36502063"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239362","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9362/pdf?version=1669884468","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":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},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/23/9362/pdf?version=1669884468","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012841751","display_name":"Yu Xia","orcid":"https://orcid.org/0000-0001-9116-8674"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"funder","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Xia","raw_affiliation_strings":["School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081694098","display_name":"Jingdi Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"funder","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingdi Cheng","raw_affiliation_strings":["School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023241774","display_name":"Xuhang Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"funder","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuhang Cai","raw_affiliation_strings":["School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083843168","display_name":"Shanjun Zhang","orcid":"https://orcid.org/0000-0003-0393-4565"},"institutions":[{"id":"https://openalex.org/I4210105374","display_name":"Beibu Gulf University","ror":"https://ror.org/01dq3qq95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105374"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanjun Zhang","raw_affiliation_strings":["Advanced Science and Technology Research Institute, Beibu Gulf University, Qinzhou 535011, China"],"affiliations":[{"raw_affiliation_string":"Advanced Science and Technology Research Institute, Beibu Gulf University, Qinzhou 535011, China","institution_ids":["https://openalex.org/I4210105374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100751130","display_name":"Junwu Zhu","orcid":"https://orcid.org/0000-0001-5810-613X"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"funder","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junwu Zhu","raw_affiliation_strings":["School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009093751","display_name":"Liucun Zhu","orcid":"https://orcid.org/0000-0001-5260-295X"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"funder","lineage":["https://openalex.org/I78978612"]},{"id":"https://openalex.org/I4210105374","display_name":"Beibu Gulf University","ror":"https://ror.org/01dq3qq95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105374"]},{"id":"https://openalex.org/I41802502","display_name":"Kanagawa University","ror":"https://ror.org/02j6c0d67","country_code":"JP","type":"funder","lineage":["https://openalex.org/I41802502"]}],"countries":["CN","JP"],"is_corresponding":true,"raw_author_name":"Liucun Zhu","raw_affiliation_strings":["Advanced Science and Technology Research Institute, Beibu Gulf University, Qinzhou 535011, China","Research Institute for Integrated Science, Kanagawa University, Kanagawa 259-1293, Japan","School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]},{"raw_affiliation_string":"Advanced Science and Technology Research Institute, Beibu Gulf University, Qinzhou 535011, China","institution_ids":["https://openalex.org/I4210105374"]},{"raw_affiliation_string":"Research Institute for Integrated Science, Kanagawa University, Kanagawa 259-1293, Japan","institution_ids":["https://openalex.org/I41802502"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100751130","https://openalex.org/A5009093751"],"corresponding_institution_ids":["https://openalex.org/I78978612","https://openalex.org/I78978612","https://openalex.org/I4210105374","https://openalex.org/I41802502"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.694,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.547173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":79,"max":81},"biblio":{"volume":"22","issue":"23","first_page":"9362","last_page":"9362"},"is_retracted":false,"is_paratext":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":0.9982,"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":0.9941,"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/visual-odometry","display_name":"Visual Odometry","score":0.8143848},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.79717064},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.51377875}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8143848},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.80954874},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.79717064},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7539372},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.68413544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6792838},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5747489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5219126},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.51377875},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.44099557},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.44066858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3318218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3011888},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2010842},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13083634},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D055096","descriptor_name":"Optical Devices","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":"","qualifier_name":null,"is_major_topic":false}],"locations_count":4,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239362","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9362/pdf?version=1669884468","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":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},{"is_oa":false,"landing_page_url":"https://doaj.org/article/2db88c0e863d4b2ba628d3f961caa26b","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":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9739104","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["National Institutes of Health"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36502063","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_indexed_in_scopus":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":["National Institutes of Health"],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239362","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9362/pdf?version=1669884468","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":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},"sustainable_development_goals":[{"display_name":"Quality education","id":"https://metadata.un.org/sdg/4","score":0.74}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":36,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1989484209","https://openalex.org/W2080823437","https://openalex.org/W2099606917","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2171778162","https://openalex.org/W2277848489","https://openalex.org/W2474281075","https://openalex.org/W2565998037","https://openalex.org/W2745859992","https://openalex.org/W2798786289","https://openalex.org/W2804923792","https://openalex.org/W2876324142","https://openalex.org/W2892028890","https://openalex.org/W2902610326","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W3034314779","https://openalex.org/W3039808820","https://openalex.org/W3100687815","https://openalex.org/W3102327032","https://openalex.org/W3109154950","https://openalex.org/W3129920626","https://openalex.org/W3132982513","https://openalex.org/W3155948118","https://openalex.org/W3177330511","https://openalex.org/W3192680689","https://openalex.org/W3199931265","https://openalex.org/W4205241350","https://openalex.org/W4280652360","https://openalex.org/W612478963"],"related_works":["https://openalex.org/W87609089","https://openalex.org/W4312703710","https://openalex.org/W3161199934","https://openalex.org/W3105866016","https://openalex.org/W3024737167","https://openalex.org/W2979950214","https://openalex.org/W2414561716","https://openalex.org/W2412578866","https://openalex.org/W2312326526","https://openalex.org/W2303855011"],"abstract_inverted_index":{"SLAM":[0,27,160,206],"(Simultaneous":[1],"Localization":[2],"and":[3,21,47,90,109,116,149,173,183],"Mapping)":[4],"is":[5,28,41,50,56,120,185,192],"mainly":[6],"composed":[7],"of":[8,73,87,101,137,158,180,200,203],"five":[9],"parts:":[10],"sensor":[11],"data":[12],"reading,":[13],"front-end":[14],"visual":[15,26,31,45,74,88,205],"odometry,":[16],"back-end":[17,85,161],"optimization,":[18],"loopback":[19,49,194],"detection,":[20,195],"map":[22],"building.":[23],"And":[24],"when":[25,190],"estimated":[29],"by":[30],"odometry":[32],"only,":[33],"cumulative":[34,70,187,201],"drift":[35,71,188,202],"will":[36],"inevitably":[37],"occur.":[38],"Loopback":[39],"detection":[40],"used":[42],"in":[43],"classical":[44],"SLAM,":[46,75,89],"if":[48],"not":[51,57],"detected":[52],"during":[53],"operation,":[54],"it":[55],"possible":[58],"to":[59,67,83,96,123,208],"correct":[60],"the":[61,69,84,92,98,102,106,111,124,135,138,145,150,155,159,178,198,204],"positional":[62,139],"trajectory":[63],"using":[64],"loopback.":[65],"Therefore,":[66],"address":[68],"problem":[72,189,199],"this":[76],"paper":[77],"adds":[78],"Indoor":[79],"Positioning":[80],"System":[81],"(IPS)":[82],"optimization":[86,125,136,162],"uses":[91],"two-label":[93],"orientation":[94],"method":[95],"estimate":[97],"heading":[99,117],"angle":[100],"mobile":[103,147],"robot":[104],"as":[105,126],"pose":[107,112],"information,":[108],"outputs":[110],"information":[113],"with":[114,164],"position":[115],"angle.":[118],"It":[119],"also":[121],"added":[122],"an":[127],"absolute":[128],"constraint.":[129],"Global":[130],"constraints":[131],"are":[132],"provided":[133],"for":[134],"trajectory.":[140],"We":[141],"conducted":[142],"experiments":[143],"on":[144],"AUTOLABOR":[146],"robot,":[148],"experimental":[151],"results":[152],"show":[153],"that":[154],"localization":[156],"accuracy":[157],"algorithm":[163],"fused":[165],"IPS":[166],"can":[167],"be":[168],"maintained":[169],"between":[170],"0.02":[171],"m":[172],"0.03":[174],"m,":[175],"which":[176,196],"meets":[177],"requirements":[179],"indoor":[181],"localization,":[182],"there":[184,191],"no":[186,193],"solves":[197],"system":[207],"some":[209],"extent.":[210]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4311053350","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-04-08T22:22:15.363414","created_date":"2022-12-23"}