{"id":"https://openalex.org/W3036875645","doi":"https://doi.org/10.1109/access.2020.3003160","title":"Semantic SLAM With More Accurate Point Cloud Map in Dynamic Environments","display_name":"Semantic SLAM With More Accurate Point Cloud Map in Dynamic Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3036875645","doi":"https://doi.org/10.1109/access.2020.3003160","mag":"3036875645"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3003160","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003160","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2020.3003160","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062574157","display_name":"Yingchun Fan","orcid":"https://orcid.org/0000-0003-0661-2545"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingchun Fan","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi\u2019an, China","Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0003-0661-2545","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075640423","display_name":"Qichi Zhang","orcid":"https://orcid.org/0000-0003-1139-4570"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichi Zhang","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0003-1139-4570","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101491446","display_name":"Shaofeng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaofeng Liu","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-8968-4060","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101589940","display_name":"Yuliang Tang","orcid":"https://orcid.org/0000-0001-5609-6847"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuliang Tang","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0001-5609-6847","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013206161","display_name":"Xin Jing","orcid":"https://orcid.org/0000-0003-3407-7551"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Jing","raw_affiliation_strings":["Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0003-3407-7551","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047671078","display_name":"Jintao Yao","orcid":"https://orcid.org/0000-0002-8344-5632"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jintao Yao","raw_affiliation_strings":["Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-8344-5632","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058516510","display_name":"Hong Han","orcid":"https://orcid.org/0000-0002-8019-3740"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Han","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi\u2019an, China","Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-8019-3740","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Integrated and Intelligent Navigation, Xi\u2019an, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":42.4194,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99539373,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"112237","last_page":"112252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8327338695526123},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7837873101234436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7773256301879883},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7627999186515808},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7081069350242615},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.588145911693573},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5422784090042114},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5376990437507629},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4672045111656189},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4377821981906891},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.42574185132980347},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.420634001493454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21076947450637817},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.206260085105896},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13821715116500854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13292214274406433}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8327338695526123},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7837873101234436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7773256301879883},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7627999186515808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7081069350242615},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.588145911693573},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5422784090042114},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5376990437507629},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4672045111656189},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4377821981906891},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.42574185132980347},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.420634001493454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21076947450637817},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.206260085105896},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13821715116500854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13292214274406433},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3003160","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003160","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9fff89b88a4543109f7943106d08d966","is_oa":true,"landing_page_url":"https://doaj.org/article/9fff89b88a4543109f7943106d08d966","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 112237-112252 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3003160","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003160","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2064451896","https://openalex.org/W2064887836","https://openalex.org/W2076917298","https://openalex.org/W2085261163","https://openalex.org/W2104396692","https://openalex.org/W2133844819","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2162731263","https://openalex.org/W2474281075","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2555771853","https://openalex.org/W2556215627","https://openalex.org/W2565755350","https://openalex.org/W2570343428","https://openalex.org/W2574323677","https://openalex.org/W2606794968","https://openalex.org/W2735010494","https://openalex.org/W2754925132","https://openalex.org/W2767800299","https://openalex.org/W2770691132","https://openalex.org/W2777964604","https://openalex.org/W2788608285","https://openalex.org/W2794473124","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2890213701","https://openalex.org/W2895745202","https://openalex.org/W2895907983","https://openalex.org/W2898910301","https://openalex.org/W2909791330","https://openalex.org/W2927562344","https://openalex.org/W2938463073","https://openalex.org/W2948262272","https://openalex.org/W2950359794","https://openalex.org/W2950989657","https://openalex.org/W2962747122","https://openalex.org/W2963150697","https://openalex.org/W2963357556","https://openalex.org/W2963881378","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W2970306082","https://openalex.org/W2985912973","https://openalex.org/W3011729495","https://openalex.org/W3021789557","https://openalex.org/W3024627041","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W4253803843","https://openalex.org/W6730011800","https://openalex.org/W6763417507","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2064893714","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582"],"abstract_inverted_index":{"Static":[0],"environment":[1,44,169,181],"is":[2,45,235],"a":[3,42,87,93,121,152],"prerequisite":[4],"for":[5],"most":[6],"existing":[7],"vision-based":[8],"SLAM":[9,24,39,66,90,208,224],"(simultaneous":[10],"localization":[11],"and":[12,52,106,171],"mapping)":[13],"systems":[14,67],"to":[15,47,185,189,201],"work":[16],"properly,":[17],"which":[18],"greatly":[19],"limits":[20],"the":[21,31,38,48,53,59,70,104,110,114,128,133,136,143,159,162,175,180,191,196,203,212,215,221,226,236],"use":[22],"of":[23,30,55,72,109,120,132,146,205],"in":[25,41,58,99,113,135,179,195],"real-world":[26],"environments.":[27,101],"The":[28,118,139],"quality":[29],"global":[32,227],"point":[33,61,96,228],"cloud":[34,62,97,229],"map":[35,98,230],"constructed":[36,231],"by":[37,116,126,142,151,232],"system":[40,91,234],"dynamic":[43,65,100,111,122,147,172,197,223],"related":[46],"camera":[49,73],"pose":[50],"estimation":[51],"removal":[54],"noise":[56,79],"blocks":[57,80],"local":[60],"maps.":[63],"Most":[64],"mainly":[68],"improve":[69],"accuracy":[71],"localization,":[74],"but":[75],"rarely":[76],"study":[77],"on":[78,214],"removal.":[81],"In":[82,199],"this":[83],"paper,":[84],"we":[85,210],"proposed":[86,207],"novel":[88],"semantic":[89],"with":[92,220],"more":[94],"accurate":[95],"We":[102],"obtained":[103],"masks":[105],"bounding":[107,137,160],"boxes":[108],"objects":[112,148],"images":[115,163],"BlitzNet.":[117],"mask":[119,134],"object":[123],"was":[124],"extended":[125],"analyzing":[127],"depth":[129],"statistical":[130],"information":[131,145],"box.":[138],"islands":[140],"generated":[141],"residual":[144],"were":[149],"removed":[150],"morphological":[153],"operation":[154],"after":[155],"geometric":[156],"segmentation.":[157],"With":[158],"boxes,":[161],"can":[164],"be":[165],"quickly":[166],"divided":[167],"into":[168],"regions":[170,182],"regions,":[173],"so":[174],"depth-stable":[176],"matching":[177,193],"points":[178,194],"are":[183],"used":[184],"construct":[186],"epipolar":[187],"constraints":[188],"locate":[190],"static":[192],"regions.":[198],"order":[200],"verify":[202],"preference":[204],"our":[206,233],"system,":[209],"conduct":[211],"experiments":[213],"TUM":[216],"RGB-D":[217],"datasets.":[218],"Compared":[219],"state-of-the-art":[222],"systems,":[225],"best.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
