{"id":"https://openalex.org/W3120103794","doi":"https://doi.org/10.1080/01691864.2020.1869586","title":"Stereo camera visual SLAM with hierarchical masking and motion-state classification at outdoor construction sites containing large dynamic objects","display_name":"Stereo camera visual SLAM with hierarchical masking and motion-state classification at outdoor construction sites containing large dynamic objects","publication_year":2021,"publication_date":"2021-01-11","ids":{"openalex":"https://openalex.org/W3120103794","doi":"https://doi.org/10.1080/01691864.2020.1869586","mag":"3120103794"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1869586","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1869586","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.06563","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069735259","display_name":"Runqiu Bao","orcid":"https://orcid.org/0000-0002-7625-8329"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Runqiu Bao","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7625-8329","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069375578","display_name":"Ren Komatsu","orcid":"https://orcid.org/0000-0002-6526-0802"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ren Komatsu","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6526-0802","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017184377","display_name":"Renato Miyagusuku","orcid":"https://orcid.org/0000-0003-2471-2187"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Renato Miyagusuku","raw_affiliation_strings":["Department of Mechanical and Intelligent Engineering, Utsunomiya University, Utsunomiya, Tochigi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2471-2187","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Engineering, Utsunomiya University, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059524979","display_name":"Masaki Chino","orcid":"https://orcid.org/0000-0002-4059-8786"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Masaki Chino","raw_affiliation_strings":["Construction Division, HAZAMA ANDO CORPORATION, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4059-8786","affiliations":[{"raw_affiliation_string":"Construction Division, HAZAMA ANDO CORPORATION, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1280-069X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9482-497X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069735259"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":4.5061,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.94209052,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"35","issue":"3-4","first_page":"228","last_page":"241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8130946755409241},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7641770839691162},{"id":"https://openalex.org/keywords/masking","display_name":"Masking (illustration)","score":0.7113950252532959},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.680914044380188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6164975762367249},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5935512781143188},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4903848171234131},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.45288917422294617},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41612592339515686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3357582688331604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16442081332206726}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8130946755409241},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7641770839691162},{"id":"https://openalex.org/C2777402240","wikidata":"https://www.wikidata.org/wiki/Q6783436","display_name":"Masking (illustration)","level":2,"score":0.7113950252532959},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.680914044380188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6164975762367249},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5935512781143188},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4903848171234131},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.45288917422294617},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41612592339515686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3357582688331604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16442081332206726},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2020.1869586","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1869586","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2101.06563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06563","pdf_url":"https://arxiv.org/pdf/2101.06563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.06563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06563","pdf_url":"https://arxiv.org/pdf/2101.06563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1016266425","https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W2021851106","https://openalex.org/W2068763856","https://openalex.org/W2085261163","https://openalex.org/W2101703235","https://openalex.org/W2115579991","https://openalex.org/W2128019145","https://openalex.org/W2535547924","https://openalex.org/W2737068486","https://openalex.org/W2788608285","https://openalex.org/W2796347433","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2890090517","https://openalex.org/W2927562344","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963170338","https://openalex.org/W2964226622","https://openalex.org/W2967109249","https://openalex.org/W2967352563","https://openalex.org/W3005119977","https://openalex.org/W3010463505","https://openalex.org/W3034971973","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W6668041581"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W3081694532","https://openalex.org/W1969211203","https://openalex.org/W2012658348","https://openalex.org/W28570768","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W1517958729","https://openalex.org/W2545441169"],"abstract_inverted_index":{"At":[0],"modern":[1],"construction":[2,20,57,60,169],"sites,":[3,58],"utilizing":[4],"GNSS":[5,29,35],"(Global":[6],"Navigation":[7],"Satellite":[8],"System)":[9],"to":[10,47,94,103,120,139,145,192],"measure":[11],"the":[12,49,73,123,127,140],"real-time":[13],"location":[14],"and":[15,22,39,43,66,163,202],"orientation":[16],"(i.e.":[17],"pose)":[18],"of":[19,107,126],"machines":[21,50,61],"navigate":[23,48],"them":[24],"is":[25,30,51],"very":[26],"common.":[27],"However,":[28],"not":[31],"always":[32],"available.":[33],"Replacing":[34],"with":[36,116,137],"on-board":[37],"cameras":[38],"visual":[40,77,149,177,195],"simultaneous":[41],"localization":[42],"mapping":[44],"(visual":[45],"SLAM)":[46],"a":[52,90,132,146,157],"cost-effective":[53],"solution.":[54],"Nevertheless,":[55],"at":[56],"multiple":[59],"will":[62],"usually":[63],"work":[64],"together":[65],"side-by-side,":[67],"causing":[68],"large":[69,81],"dynamic":[70,82,101,148,194],"occlusions":[71,83],"in":[72,189],"cameras'":[74],"view.":[75],"Standard":[76],"SLAM":[78,150,178,196],"cannot":[79],"handle":[80],"well.":[84],"In":[85],"this":[86],"work,":[87],"we":[88,130,165],"propose":[89],"motion":[91],"segmentation":[92],"method":[93,111,181],"efficiently":[95],"extract":[96],"static":[97,124,141],"parts":[98,125],"from":[99,167],"crowded":[100],"scenes":[102],"enable":[104],"robust":[105],"tracking":[106,136,188],"camera":[108,186],"ego-motion.":[109],"Our":[110],"utilizes":[112],"semantic":[113],"information":[114],"combined":[115],"object-level":[117],"geometric":[118],"constraints":[119],"quickly":[121],"detect":[122],"scene.":[128],"Then,":[129],"perform":[131],"two-step":[133],"coarse-to-fine":[134],"ego-motion":[135,187],"reference":[138],"parts.":[142],"This":[143],"leads":[144],"novel":[147],"formation.":[151],"We":[152],"test":[153],"our":[154,180],"proposals":[155],"through":[156],"real":[158,168],"implementation":[159],"based":[160],"on":[161],"ORB-SLAM2,":[162],"datasets":[164],"collected":[166],"sites.":[170],"The":[171],"results":[172],"show":[173],"that":[174],"when":[175],"standard":[176],"fails,":[179],"can":[182],"still":[183],"retain":[184],"accurate":[185],"real-time.":[190],"Comparing":[191],"state-of-the-art":[193],"methods,":[197],"ours":[198],"shows":[199],"outstanding":[200],"efficiency":[201],"competitive":[203],"result":[204],"trajectory":[205],"accuracy.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}