{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T17:58:06Z","timestamp":1775671086182,"version":"3.50.1"},"reference-count":41,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61502185"],"award-info":[{"award-number":["61502185"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2017KFYXJJ071"],"award-info":[{"award-number":["2017KFYXJJ071"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3049467","type":"journal-article","created":{"date-parts":[[2021,1,7]],"date-time":"2021-01-07T09:08:18Z","timestamp":1610010498000},"page":"9012-9025","source":"Crossref","is-referenced-by-count":17,"title":["A SLAM System Based on RGBD Image and Point-Line Feature"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4826-9423","authenticated-orcid":false,"given":"Dan","family":"Li","sequence":"first","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4901-6639","authenticated-orcid":false,"given":"Shuang","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"given":"Weilai","family":"Xiang","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"given":"Qiwei","family":"Tan","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"given":"Kaicheng","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"given":"Zhen","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9181-3952","authenticated-orcid":false,"given":"Yingsong","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, China"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2016.7477726"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s10851-008-0102-5"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487406"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.448"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906953"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907675"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759620"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2013.05.006"},{"key":"ref10","first-page":"920","article-title":"Learning topological maps with weak local odometric information","author":"shatkay","year":"1997","journal-title":"Proc Intern Joint Conf Artificial Intel (IJCAI)"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2011.06.001"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007436523611"},{"key":"ref12","first-page":"593","article-title":"FastSLAM: A factored solution to the simultaneous localization and mapping problem","author":"montemerlo","year":"2002","journal-title":"Proc AAAI Nat Conf Artif Intell"},{"key":"ref13","first-page":"1151","article-title":"FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges","author":"montemerlo","year":"2003","journal-title":"Proc Int Joint Conf Artif Intell (IJCAI)"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1049"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2006.810"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2012.02.009"},{"key":"ref18","first-page":"298","article-title":"Bundle adjustment—A modern synthesis","author":"triggs","year":"1999","journal-title":"Proc Int Workshop Vis Algorithms"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.236"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363894"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10605-2_54"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2008.04.012"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s10462-012-9365-8"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-03413-3_49"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623335"},{"key":"ref8","first-page":"207","article-title":"Stochastic multisensory data fusion for mobile robot location and environment modelling","author":"moutarlier","year":"1989","journal-title":"Proc Int Symp Robot Res"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0042528"},{"key":"ref2","first-page":"1","article-title":"ORB-SLAM: Tracking and mapping recognizable features","author":"mur-artal","year":"2014","journal-title":"Workshop on Multi-View Geometry in Robotics"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(01)00069-8"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1638022"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref22","first-page":"298","article-title":"Vision algorithms: Theory and practice","author":"bill","year":"1999","journal-title":"Proc Int Workshop Vis Algorithms"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2014.49"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2013.231"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126513"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.5244\/C.20.3"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906584"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09316224.pdf?arnumber=9316224","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,8]],"date-time":"2022-09-08T20:37:26Z","timestamp":1662669446000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9316224\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":41,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3049467","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}