{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T17:00:51Z","timestamp":1780765251175,"version":"3.54.1"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"12","license":[{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China (NSFC) through NSAF","doi-asserted-by":"publisher","award":["U2030204"],"award-info":[{"award-number":["U2030204"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Circuits Syst. I"],"published-print":{"date-parts":[[2022,12]]},"DOI":"10.1109\/tcsi.2022.3190300","type":"journal-article","created":{"date-parts":[[2022,7,21]],"date-time":"2022-07-21T19:31:49Z","timestamp":1658431909000},"page":"4919-4929","source":"Crossref","is-referenced-by-count":23,"title":["MobileSP: An FPGA-Based Real-Time Keypoint Extraction Hardware Accelerator for Mobile VSLAM"],"prefix":"10.1109","volume":"69","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7868-6397","authenticated-orcid":false,"given":"Ye","family":"Liu","sequence":"first","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2392-5984","authenticated-orcid":false,"given":"Jingyuan","family":"Li","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8301-4974","authenticated-orcid":false,"given":"Kun","family":"Huang","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiangting","family":"Li","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiuyuan","family":"Qi","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6685-5576","authenticated-orcid":false,"given":"Liang","family":"Chang","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Long","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2098-9621","authenticated-orcid":false,"given":"Jun","family":"Zhou","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18072.2020.9218717"},{"key":"ref33","first-page":"1","article-title":"Working hard to know your neighbor&#x2019;s margins: Local descriptor learning loss","volume":"30","author":"mishchuk","year":"2017","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.649"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0107-3"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008109111715"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.410"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/MWSCAS48704.2020.9184608"},{"key":"ref34","article-title":"R2D2: Repeatable and reliable detector and descriptor","author":"revaud","year":"2019","journal-title":"arXiv 1906 06195"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_32"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1989.1.4.541"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-46466-9_18"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46466-4_28"},{"key":"ref15","first-page":"1","article-title":"LF-Net: Learning local features from images","author":"ono","year":"2018","journal-title":"Proc NIPS"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00828"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00832"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00060"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00499"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15552-9_14"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.77"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1049"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7299165"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/38.963459"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/34.982903"},{"key":"ref2","first-page":"778","article-title":"BRIEF: Binary robust independent elementary features","author":"calonder","year":"2010","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref1","article-title":"Obstacle avoidance and navigation in the real world by a seeing robot rover","author":"moravec","year":"1980"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1145\/3316781.3317820"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TCSII.2019.2924663"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18072.2020.9218550"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/FCCM48280.2020.00014"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TVLSI.2021.3139904"},{"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":"10.5244\/C.2.23"}],"container-title":["IEEE Transactions on Circuits and Systems I: Regular Papers"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8919\/9985434\/09835004.pdf?arnumber=9835004","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,9]],"date-time":"2023-01-09T21:24:44Z","timestamp":1673299484000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9835004\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12]]},"references-count":38,"journal-issue":{"issue":"12"},"URL":"https:\/\/doi.org\/10.1109\/tcsi.2022.3190300","relation":{},"ISSN":["1549-8328","1558-0806"],"issn-type":[{"value":"1549-8328","type":"print"},{"value":"1558-0806","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12]]}}}