{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T16:41:24Z","timestamp":1783183284601,"version":"3.54.6"},"reference-count":52,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61905045"],"award-info":[{"award-number":["61905045"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173101"],"award-info":[{"award-number":["62173101"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010256","name":"Guangzhou Science and Technology Project","doi-asserted-by":"publisher","award":["202102010501"],"award-info":[{"award-number":["202102010501"]}],"id":[{"id":"10.13039\/501100010256","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Open Research Project of Zhijiang Laboratory","award":["2021KF0AB06"],"award-info":[{"award-number":["2021KF0AB06"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Open J. Commun. Soc."],"published-print":{"date-parts":[[2022]]},"DOI":"10.1109\/ojcoms.2022.3217147","type":"journal-article","created":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:23:35Z","timestamp":1667517815000},"page":"1950-1962","source":"Crossref","is-referenced-by-count":10,"title":["A Real-time and Robust Monocular Visual Inertial SLAM System Based on Point and Line Features for Mobile Robots of Smart Cities Toward 6G"],"prefix":"10.1109","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4792-019X","authenticated-orcid":false,"given":"Zhenfei","family":"Kuang","sequence":"first","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0618-7454","authenticated-orcid":false,"given":"Wei","family":"Wei","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yier","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2424-0231","authenticated-orcid":false,"given":"Jie","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5351-699X","authenticated-orcid":false,"given":"Guangman","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3685-1977","authenticated-orcid":false,"given":"Yuyang","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Computer Science and Engineering, Macau University of Science and Technology, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3465-1621","authenticated-orcid":false,"given":"Jun","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenli","family":"Shang","sequence":"additional","affiliation":[{"name":"School of Electronics and Communication Engineering, Guangzhou University, Guangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353389"},{"key":"ref33","author":"kaehler","year":"2014","journal-title":"Learning OpenCV"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594354"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2013.05.006"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2899783"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1108\/02602281011051380"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481251"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907079279"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696917"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759620"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487406"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JSTSP.2021.3137669"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678144"},{"key":"ref20","author":"bouguet","year":"1999","journal-title":"Pyramidal implementation of the Lucas Kanade feature tracker description of the algorithm"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593419"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref24","first-page":"404","article-title":"SURF: Speeded up robust features","author":"bay","year":"2006","journal-title":"Proc 9th Eur Conf Comput Vis (ECCV)"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.1999.790410"},{"key":"ref26","first-page":"593","article-title":"Good features to track","author":"shi","year":"1994","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit (CVPR)"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref50","first-page":"156","article-title":"Automatic gamma correction based on average of brightness","volume":"4","author":"babakhani","year":"2015","journal-title":"Adv Comput"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1108\/k.2001.30.9_10.1333.2"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1214\/aoms\/1177703732"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3206612"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3159275"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364024"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.3390\/s18041159"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"ref15","article-title":"PL-VINS: Real-time monocular visual–inertial SLAM with point and line features","author":"fu","year":"2020","journal-title":"arXiv 2009 07462"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRAS52289.2021.9476464"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2011.06.001"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.300"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907675"},{"key":"ref4","article-title":"A survey of simultaneous localization and mapping with an envision in 6G wireless networks","author":"huang","year":"2019","journal-title":"arXiv 1909 05214"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.001.1900287"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TCOMM.2017.2710312"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/OJCOMS.2021.3057679"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2749181"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2021.3128440"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202316"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20360"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.275"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15561-1_56"},{"key":"ref42","author":"agarwal","year":"2022","journal-title":"Ceres Solver"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2005.06.001"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003276"}],"container-title":["IEEE Open Journal of the Communications Society"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8782661\/9702748\/09930834.pdf?arnumber=9930834","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,28]],"date-time":"2022-11-28T19:35:01Z","timestamp":1669664101000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9930834\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"references-count":52,"URL":"https:\/\/doi.org\/10.1109\/ojcoms.2022.3217147","relation":{},"ISSN":["2644-125X"],"issn-type":[{"value":"2644-125X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022]]}}}