{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:54Z","timestamp":1754155434135,"version":"3.41.2"},"reference-count":27,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2018,5,14]],"date-time":"2018-05-14T00:00:00Z","timestamp":1526256000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,7,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This study aims to present a visual-inertial simultaneous localization and mapping (SLAM) method for accurate positioning and navigation of mobile robots in the event of global positioning system (GPS) signal failure in buildings, trees and other obstacles.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>In this framework, a feature extraction method distributes features on the image under texture-less scenes. The assumption of constant luminosity is improved, and the features are tracked by the optical flow to enhance the stability of the system. The camera data and inertial measurement unit data are tightly coupled to estimate the pose by nonlinear optimization.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The method is successfully performed on the mobile robot and steadily extracts the features on low texture environments and tracks features. The end-to-end error is 1.375 m with respect to the total length of 762 m. The authors achieve better relative pose error, scale and CPU load than ORB-SLAM2 on EuRoC data sets.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The main contribution of this study is the theoretical derivation and experimental application of a new visual-inertial SLAM method that has excellent accuracy and stability on weak texture scenes.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-01-2018-0002","type":"journal-article","created":{"date-parts":[[2018,6,11]],"date-time":"2018-06-11T10:58:38Z","timestamp":1528714718000},"page":"401-406","source":"Crossref","is-referenced-by-count":12,"title":["Visual-inertial SLAM method based on optical flow in a GPS-denied environment"],"prefix":"10.1108","volume":"45","author":[{"given":"Chang","family":"Chen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hua","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,5,14]]},"reference":[{"issue":"3","key":"key2021041507275882400_ref001","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1023\/B:VISI.0000011205.11775.fd","article-title":"Lucas-Kanade 20 years on: a unifying framework","volume":"56","year":"2004","journal-title":"International Journal of Computer Vision"},{"issue":"10","key":"key2021041507275882400_ref002","doi-asserted-by":"crossref","first-page":"1157","DOI":"10.1177\/0278364915620033","article-title":"The EuRoC micro aerial vehicle datasets","volume":"35","year":"2016","journal-title":"International Journal of Robotics Research"},{"key":"key2021041507275882400_ref003","first-page":"1331","article-title":"Visual-inertial direct Slam","volume-title":"IEEE International Conference on Robotics and Automation","year":"2016"},{"key":"key2021041507275882400_ref004","first-page":"1935","article-title":"Large-scale direct Slam with stereo cameras","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2015"},{"key":"key2021041507275882400_ref005","first-page":"3601","article-title":"Inertial aided dense & semi-dense methods for robust direct visual odometry","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2016"},{"volume-title":"IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation","year":"2015","key":"key2021041507275882400_ref006"},{"issue":"2","key":"key2021041507275882400_ref007","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","article-title":"Svo: semidirect visual odometry for monocular and multicamera systems","volume":"33","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"key":"key2021041507275882400_ref008","first-page":"1280","article-title":"Unified temporal and spatial calibration for multi-sensor systems","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2013"},{"issue":"5","key":"key2021041507275882400_ref009","doi-asserted-by":"crossref","first-page":"1188","DOI":"10.1109\/TRO.2012.2197158","article-title":"Bags of binary words for fast place recognition in image sequences","volume":"28","year":"2012","journal-title":"IEEE Transactions on Robotics"},{"issue":"20","key":"key2021041507275882400_ref010","doi-asserted-by":"crossref","first-page":"1289","DOI":"10.1080\/01691864.2015.1057616","article-title":"A review of visual inertial odometry from filtering and optimisation perspectives","volume":"29","year":"2015","journal-title":"Advanced Robotics"},{"issue":"9\/10","key":"key2021041507275882400_ref011","first-page":"1865","article-title":"Multiple view geometry in computer vision","volume":"30","year":"2003","journal-title":"Kybernetes"},{"journal-title":"International Technical Meeting of the Satellite Division of the Institute of Navigation","article-title":"Stereo-inertial odometry using nonlinear optimization","year":"2015","key":"key2021041507275882400_ref012"},{"key":"key2021041507275882400_ref013","first-page":"1909","article-title":"Inertial-aided KLT feature tracking for a moving camera","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2009"},{"key":"key2021041507275882400_ref014","first-page":"2154","article-title":"Factor graph based incremental smoothing in inertial navigation systems","volume-title":"International Conference on Information Fusion","year":"2012"},{"first-page":"684","article-title":"Real-time feature tracking and outlier rejection with changes in illumination","year":"2001","key":"key2021041507275882400_ref015"},{"issue":"3","key":"key2021041507275882400_ref016","doi-asserted-by":"crossref","first-page":"314","DOI":"10.1177\/0278364914554813","article-title":"Keyframe-based visual-inertial odometry using nonlinear optimization","volume":"34","year":"2015","journal-title":"International Journal of Robotics Research"},{"key":"key2021041507275882400_ref017","article-title":"Autonomous aerial navigation using monocular visual\u2010inertial fusion","volume":"4","year":"2017","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"key2021041507275882400_ref018","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1109\/TRO.2011.2170332","article-title":"Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions","volume":"28","year":"2012","journal-title":"IEEE Transactions on Robotics"},{"volume-title":"Closed-Form Solution of Visual-Inertial Structure from Motion","year":"2014","key":"key2021041507275882400_ref019"},{"key":"key2021041507275882400_ref020","first-page":"3565","article-title":"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation","volume-title":"IEEE International Conference on Robotics and Automation","year":"2007"},{"issue":"5","key":"key2021041507275882400_ref021","first-page":"1255","article-title":"ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras","volume":"33","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"key2021041507275882400_ref022","doi-asserted-by":"crossref","first-page":"796","DOI":"10.1109\/LRA.2017.2653359","article-title":"Visual-inertial monocular SLAM with Map reuse","volume":"2","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"1","key":"key2021041507275882400_ref023","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/TPAMI.2008.275","article-title":"Faster and better: a machine learning approach to corner detection","volume":"32","year":"2010","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"6","key":"key2021041507275882400_ref024","doi-asserted-by":"crossref","first-page":"854","DOI":"10.1002\/rob.20412","article-title":"Monocular\u2010SLAM-based navigation for autonomous micro helicopters in GPS\u2010denied environments","volume":"28","year":"2011","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"key2021041507275882400_ref025","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1109\/TASE.2016.2550621","article-title":"Monocular visual\u2013inertial state estimation with online initialization and camera\u2013IMU extrinsic calibration","volume":"14","year":"2017","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"4","key":"key2021041507275882400_ref026","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1007\/s40903-015-0032-7","article-title":"An overview to visual odometry and visual SLAM: applications to mobile robotics","volume":"1","year":"2015","journal-title":"Intelligent Industrial Systems"},{"key":"key2021041507275882400_ref027","first-page":"4531","article-title":"Real-time metric state estimation for modular vision-inertial systems","volume-title":"Robotics and Automation (ICRA), 2011 IEEE International Conference on","year":"2011"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-01-2018-0002\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-01-2018-0002\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:09Z","timestamp":1753393089000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/45\/3\/401-406\/185292"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,5,14]]},"references-count":27,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2018,5,14]]},"published-print":{"date-parts":[[2018,7,19]]}},"alternative-id":["10.1108\/IR-01-2018-0002"],"URL":"https:\/\/doi.org\/10.1108\/ir-01-2018-0002","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2018,5,14]]}}}