{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,20]],"date-time":"2025-09-20T20:32:49Z","timestamp":1758400369892},"publisher-location":"Cham","reference-count":22,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030275402"},{"type":"electronic","value":"9783030275419"}],"license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019]]},"DOI":"10.1007\/978-3-030-27541-9_38","type":"book-chapter","created":{"date-parts":[[2019,8,5]],"date-time":"2019-08-05T14:02:43Z","timestamp":1565013763000},"page":"461-472","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Semi-direct Tracking and Mapping with RGB-D Camera"],"prefix":"10.1007","author":[{"given":"Ke","family":"Liu","sequence":"first","affiliation":[]},{"given":"Xiaolin","family":"Gu","sequence":"additional","affiliation":[]},{"given":"Min","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Yi","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Shun","family":"Guan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,8,6]]},"reference":[{"issue":"6","key":"38_CR1","first-page":"879","volume":"39","author":"G Zhang","year":"2017","unstructured":"Zhang, G., Yao, E., Lin, Z., Xu, H.: Fast binocular SLAM algorithm combining the direct method and the feature-based method. Robot 39(6), 879\u2013888 (2017). (in Chinese)","journal-title":"Robot"},{"key":"38_CR2","doi-asserted-by":"publisher","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","volume":"6","author":"AJ Davison","year":"2007","unstructured":"Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: real-time single camera SLAM. IEEE Trans. Pattern Anal. Mach. Intell. 6, 1052\u20131067 (2007)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"38_CR3","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"260","DOI":"10.1007\/11669463_20","volume-title":"Wireless Sensor Networks","author":"K Jamieson","year":"2006","unstructured":"Jamieson, K., Balakrishnan, H., Tay, Y.C.: Sift: a MAC protocol for event-driven wireless sensor networks. In: R\u00f6mer, K., Karl, H., Mattern, F. (eds.) EWSN 2006. LNCS, vol. 3868, pp. 260\u2013275. Springer, Heidelberg (2006). \n                      https:\/\/doi.org\/10.1007\/11669463_20"},{"issue":"3","key":"38_CR4","doi-asserted-by":"publisher","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (SURF). Comput. Vis. Image Underst. 110(3), 346\u2013359 (2008)","journal-title":"Comput. Vis. Image Underst."},{"key":"38_CR5","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1007\/978-3-319-10605-2_54","volume-title":"Computer Vision \u2013 ECCV 2014","author":"J Engel","year":"2014","unstructured":"Engel, J., Sch\u00f6ps, T., Cremers, D.: LSD-SLAM: large-scale direct monocular SLAM. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8690, pp. 834\u2013849. Springer, Cham (2014). \n                      https:\/\/doi.org\/10.1007\/978-3-319-10605-2_54"},{"issue":"5","key":"38_CR6","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1177\/0278364911434148","volume":"31","author":"P Henry","year":"2012","unstructured":"Henry, P., Krainin, M., Herbst, E., Ren, X., Fox, D.: RGB-D mapping: using kinect-style depth cameras for dense 3D modeling of indoor environments. Int. J. Robot. Res. 31(5), 647\u2013663 (2012)","journal-title":"Int. J. Robot. Res."},{"key":"38_CR7","doi-asserted-by":"crossref","unstructured":"Klein, G., Murray, D.: Parallel tracking and mapping for small AR workspaces. In: Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 1\u201310. IEEE Computer Society (2007)","DOI":"10.1109\/ISMAR.2007.4538852"},{"issue":"5","key":"38_CR8","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: \u201cORB-SLAM2\u201d: an open-source SLAM system for monocular, stereo, and RGB-D cameras. IEEE Trans. Robot. 33(5), 1255\u20131262 (2017)","journal-title":"IEEE Trans. Robot."},{"key":"38_CR9","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.R.: ORB: an efficient alternative to SIFT or SURF. In: ICCV, vol. 11, p. 2. Citeseer (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"38_CR10","doi-asserted-by":"crossref","unstructured":"Kerl, C., Sturm, J., Cremers, D.: Robust odometry estimation for RGB-D cameras, pp. 3748\u20133754 (2013)","DOI":"10.1109\/ICRA.2013.6631104"},{"key":"38_CR11","doi-asserted-by":"crossref","unstructured":"Kerl, C., Sturm, J., Cremers, D.: Dense visual SLAM for RGB-D cameras, pp. 2100\u20132106 (2013)","DOI":"10.1109\/IROS.2013.6696650"},{"key":"38_CR12","series-title":"Advances in Intelligent Systems and Computing","doi-asserted-by":"publisher","first-page":"855","DOI":"10.1007\/978-3-319-48036-7_62","volume-title":"Intelligent Autonomous Systems 14","author":"N Krombach","year":"2017","unstructured":"Krombach, N., Droeschel, D., Behnke, S.: Combining feature-based and direct methods for semi-dense real-time stereo visual odometry. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds.) IAS 2016. AISC, vol. 531, pp. 855\u2013868. Springer, Cham (2017). \n                      https:\/\/doi.org\/10.1007\/978-3-319-48036-7_62"},{"key":"38_CR13","doi-asserted-by":"publisher","first-page":"1605","DOI":"10.1007\/s10514-018-9816-4","volume":"43","author":"P Kim","year":"2018","unstructured":"Kim, P., Lee, H., Kim, H.J.: Autonomous flight with robust visual odometry under dynamic lighting conditions. Auton. Robots 43, 1605\u20131622 (2018)","journal-title":"Auton. Robots"},{"issue":"3","key":"38_CR14","doi-asserted-by":"publisher","first-page":"4445","DOI":"10.1007\/s11042-016-3524-x","volume":"76","author":"S Bu","year":"2017","unstructured":"Bu, S., Zhao, Y., Wan, G., Li, K., Cheng, G., Liu, Z.: Semi-direct tracking and mapping with RGB-D camera for MAV. Multimed. Tools Appl. 76(3), 4445\u20134469 (2017)","journal-title":"Multimed. Tools Appl."},{"issue":"2","key":"38_CR15","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","volume":"33","author":"C Forster","year":"2017","unstructured":"Forster, C., Zhang, Z., Gassner, M., Werlberger, M., Scaramuzza, D.: SVO: semidirect visual odometry for monocular and multicamera systems. IEEE Trans. Robot. 33(2), 249\u2013265 (2017)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"38_CR16","doi-asserted-by":"publisher","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","volume":"40","author":"J Engel","year":"2018","unstructured":"Engel, J., Koltun, V., Cremers, D.: Direct sparse odometry. IEEE Trans. Pattern Anal. Mach. Intell. 40(3), 611\u2013625 (2018)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"38_CR17","doi-asserted-by":"crossref","unstructured":"Sheikh, R., OBwald, S., Bennewitz, M.: A combined RGB and depth descriptor for slam with humanoids. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1718\u20131724. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593768"},{"issue":"5","key":"38_CR18","doi-asserted-by":"publisher","first-page":"1188","DOI":"10.1109\/TRO.2012.2197158","volume":"28","author":"D G\u00e1lvez-L\u00f3pez","year":"2012","unstructured":"G\u00e1lvez-L\u00f3pez, D., Tardos, J.D.: Bags of binary words for fast place recognition in image sequences. IEEE Trans. Robot. 28(5), 1188\u20131197 (2012)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"38_CR19","doi-asserted-by":"publisher","first-page":"629","DOI":"10.1364\/JOSAA.4.000629","volume":"4","author":"BK Horn","year":"1987","unstructured":"Horn, B.K.: Closed-form solution of absolute orientation using unit quaternions. JOSA A 4(4), 629\u2013642 (1987)","journal-title":"JOSA A"},{"key":"38_CR20","doi-asserted-by":"crossref","unstructured":"Gao, X., Wang, R., Demmel, N., Cremers, D.: \u201cLDSO\u201d: direct sparse odometry with loop closure. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2198\u20132204. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593376"},{"key":"38_CR21","doi-asserted-by":"crossref","unstructured":"Handa, A., Whelan, T., McDonald, J., Davison, A.J.: A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1524\u20131531. IEEE (2014)","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"38_CR22","doi-asserted-by":"crossref","unstructured":"Sturm, J., Engelhard, N., Endres, F., Burgard, W., Cremers, D.: A benchmark for the evaluation of RGB-D SLAM systems. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 573\u2013580. IEEE (2012)","DOI":"10.1109\/IROS.2012.6385773"}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-27541-9_38","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,5]],"date-time":"2019-08-05T14:17:09Z","timestamp":1565014629000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-27541-9_38"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"ISBN":["9783030275402","9783030275419"],"references-count":22,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-27541-9_38","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2019]]},"assertion":[{"value":"6 August 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Shenyang","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"8 August 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"11 August 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.icira2019.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}