{"id":"https://openalex.org/W4392543850","doi":"https://doi.org/10.1109/access.2024.3373308","title":"PR-SLAM: Parallel Real-Time Dynamic SLAM Method Based on Semantic Segmentation","display_name":"PR-SLAM: Parallel Real-Time Dynamic SLAM Method Based on Semantic Segmentation","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392543850","doi":"https://doi.org/10.1109/access.2024.3373308"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3373308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10459025.pdf","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":null,"license_id":null,"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://ieeexplore.ieee.org/ielx7/6287639/6514899/10459025.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103255789","display_name":"Hongyu Zhang","orcid":"https://orcid.org/0009-0003-8955-8392"},"institutions":[{"id":"https://openalex.org/I18570673","display_name":"Guangxi University of Science and Technology","ror":"https://ror.org/02fj6b627","country_code":"CN","type":"education","lineage":["https://openalex.org/I18570673"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongyu Zhang","raw_affiliation_strings":["College of Automation, Guangxi University of Science and Technology, Liuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Guangxi University of Science and Technology, Liuzhou, China","institution_ids":["https://openalex.org/I18570673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043467191","display_name":"Jiansheng Peng","orcid":"https://orcid.org/0000-0003-4013-4508"},"institutions":[{"id":"https://openalex.org/I18570673","display_name":"Guangxi University of Science and Technology","ror":"https://ror.org/02fj6b627","country_code":"CN","type":"education","lineage":["https://openalex.org/I18570673"]},{"id":"https://openalex.org/I4210161599","display_name":"Hechi University","ror":"https://ror.org/05pjkyk24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161599"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiansheng Peng","raw_affiliation_strings":["College of Automation, Guangxi University of Science and Technology, Liuzhou, China","Department of Artificial Intelligence and Manufacturing, Hechi University, Hechi, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Guangxi University of Science and Technology, Liuzhou, China","institution_ids":["https://openalex.org/I18570673"]},{"raw_affiliation_string":"Department of Artificial Intelligence and Manufacturing, Hechi University, Hechi, China","institution_ids":["https://openalex.org/I4210161599"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101698067","display_name":"Qing Yang","orcid":"https://orcid.org/0009-0001-1863-6395"},"institutions":[{"id":"https://openalex.org/I18570673","display_name":"Guangxi University of Science and Technology","ror":"https://ror.org/02fj6b627","country_code":"CN","type":"education","lineage":["https://openalex.org/I18570673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Yang","raw_affiliation_strings":["College of Automation, Guangxi University of Science and Technology, Liuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Guangxi University of Science and Technology, Liuzhou, China","institution_ids":["https://openalex.org/I18570673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103255789"],"corresponding_institution_ids":["https://openalex.org/I18570673"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":23.5418,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.99245597,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"36498","last_page":"36514"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.8354309797286987},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.768436849117279},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6650044322013855},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6123952269554138},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5683659911155701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5344238877296448},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4971144497394562},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.46329793334007263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42606669664382935},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34760504961013794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8354309797286987},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.768436849117279},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6650044322013855},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6123952269554138},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5683659911155701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5344238877296448},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4971144497394562},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.46329793334007263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42606669664382935},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34760504961013794},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3373308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10459025.pdf","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dbce7562b7384e288c0434c032ff9266","is_oa":true,"landing_page_url":"https://doaj.org/article/dbce7562b7384e288c0434c032ff9266","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 36498-36514 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3373308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10459025.pdf","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2487135428","display_name":null,"funder_award_id":"2023GXNSFAA026025","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6258415954","display_name":null,"funder_award_id":"Chinese","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7645412800","display_name":null,"funder_award_id":"62063006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8552583763","display_name":null,"funder_award_id":"62063006","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"},{"id":"https://openalex.org/G862355088","display_name":null,"funder_award_id":"2021GCC028","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"},{"id":"https://openalex.org/G8633542014","display_name":null,"funder_award_id":"023GXNSFAA0260","funder_id":"https://openalex.org/F4320322768","funder_display_name":"Natural Science Foundation of Guangxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322768","display_name":"Natural Science Foundation of Guangxi Province","ror":null},{"id":"https://openalex.org/F4320327297","display_name":"Education Department of Guangxi Zhuang Autonomous Region","ror":"https://ror.org/00kx48s25"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392543850.pdf","grobid_xml":"https://content.openalex.org/works/W4392543850.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2074515009","https://openalex.org/W2085261163","https://openalex.org/W2101703235","https://openalex.org/W2155893237","https://openalex.org/W2193145675","https://openalex.org/W2732989660","https://openalex.org/W2745859992","https://openalex.org/W2788608285","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2921237916","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963562098","https://openalex.org/W2963881378","https://openalex.org/W3003179103","https://openalex.org/W3043971245","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W3120564201","https://openalex.org/W3120651375","https://openalex.org/W3186582707","https://openalex.org/W3187115527","https://openalex.org/W3195990593","https://openalex.org/W4210951069","https://openalex.org/W4225747367","https://openalex.org/W4281611374","https://openalex.org/W4285507666","https://openalex.org/W4308804571","https://openalex.org/W4312290933","https://openalex.org/W4387415249","https://openalex.org/W6729999887","https://openalex.org/W6756486208","https://openalex.org/W6784930956"],"related_works":["https://openalex.org/W2033778626","https://openalex.org/W2187110187","https://openalex.org/W2026780467","https://openalex.org/W2002371119","https://openalex.org/W2018697868","https://openalex.org/W28570768","https://openalex.org/W4390492895","https://openalex.org/W2886225742","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"SLAM":[0,24,65,177],"(Simultaneous":[1],"Localization":[2],"and":[3,51,191,210],"Mapping)":[4],"is":[5,104],"the":[6,34,49,71,84,90,95,99,108,111,145,175,180],"core":[7],"technology":[8],"enabling":[9],"autonomous":[10],"exploration":[11],"by":[12],"mobile":[13],"robots":[14],"in":[15,42,55,188,206,216],"unknown":[16],"environments.":[17],"While":[18],"there":[19],"have":[20,60,136,164],"been":[21],"numerous":[22],"impressive":[23,213],"systems":[25,54,178],"developed,":[26],"many":[27],"of":[28,36,53,73,110,148],"them":[29],"are":[30],"primarily":[31],"based":[32,120,143],"on":[33,107,121,144],"assumption":[35],"static":[37],"environments,":[38],"limiting":[39],"their":[40],"applicability":[41],"real-world":[43,57],"settings.":[44],"In":[45],"order":[46],"to":[47,124,151,159,168,198,220],"enhance":[48],"robustness":[50],"accuracy":[52,190,209],"dynamic":[56,79,146],"scenarios,":[58],"we":[59,115,163],"introduced":[61],"a":[62,78,117,139,202],"parallelized":[63],"real-time":[64,192],"system":[66],"called":[67],"PR-SLAM,":[68],"building":[69],"upon":[70],"foundation":[72],"ORB-SLAM3.":[74],"This":[75],"algorithm":[76],"introduces":[77],"probability":[80,147],"update":[81],"strategy":[82],"within":[83],"semantic":[85,91,127,131,140,156,161],"segmentation":[86,92,132],"thread,":[87],"completely":[88],"decoupling":[89],"thread":[93,142],"from":[94],"tracking":[96,112],"thread.":[97,113],"Theoretically,":[98],"processing":[100],"time":[101],"per":[102],"frame":[103],"solely":[105],"dependent":[106],"runtime":[109,217],"Furthermore,":[114],"employ":[116],"geometric":[118],"approach":[119],"reprojection":[122],"error":[123],"compensate":[125],"for":[126,194],"gaps":[128],"generated":[129],"during":[130,155],"model":[133],"inference.":[134],"We":[135],"also":[137],"designed":[138],"optimization":[141],"map":[149],"points":[150],"optimize":[152],"camera":[153],"poses":[154],"gaps.":[157],"Finally,":[158],"reduce":[160],"gaps,":[162],"performed":[165],"lightweight":[166],"modifications":[167],"SOLOV2.":[169],"Comparative":[170],"experiments":[171],"were":[172],"conducted":[173],"against":[174],"state-of-the-art":[176],"using":[179],"TUM":[181],"dataset.":[182],"The":[183],"results":[184],"indicate":[185],"significant":[186],"improvements":[187],"both":[189],"performance":[193],"PR-SLAM.":[195],"When":[196],"compared":[197,219],"ORB-SLAM3,":[199],"PR-SLAM":[200],"achieved":[201],"remarkable":[203],"97.83%":[204],"improvement":[205],"absolute":[207],"trajectory":[208],"demonstrated":[211],"an":[212],"86.71%":[214],"increase":[215],"speed":[218],"DynaSLAM.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}