{"id":"https://openalex.org/W4400409910","doi":"https://doi.org/10.1109/access.2024.3424501","title":"Based on BiSeNetV2 for Semantic SLAM in Dynamic Scenes","display_name":"Based on BiSeNetV2 for Semantic SLAM in Dynamic Scenes","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400409910","doi":"https://doi.org/10.1109/access.2024.3424501"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3424501","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3424501","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":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://doi.org/10.1109/access.2024.3424501","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101949041","display_name":"Zhen Wang","orcid":"https://orcid.org/0000-0002-9573-2129"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Zhen","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006836442","display_name":"Weiwei Hu","orcid":"https://orcid.org/0000-0002-9484-6001"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hu Weiwei","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang Wenlei","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wenlei","raw_affiliation_strings":["College of Energy and Mining, China University of Mining and Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Energy and Mining, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xie Junjie","orcid":null},"institutions":[{"id":"https://openalex.org/I132586189","display_name":"Zhongyuan University of Technology","ror":"https://ror.org/0360zcg91","country_code":"CN","type":"education","lineage":["https://openalex.org/I132586189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xie Junjie","raw_affiliation_strings":["College of Electronics and Information, Zhongyuan University of Technology, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Zhongyuan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I132586189"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":3.4938,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92994685,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"125931","last_page":"125941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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":0.8255977034568787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7842127084732056},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7039639949798584},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6688205003738403},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.6402504444122314},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5819059610366821},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5534260869026184},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5215044617652893},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4663136899471283},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45763587951660156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2854960560798645},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23863664269447327},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08803853392601013},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07338652014732361}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8255977034568787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7842127084732056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7039639949798584},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6688205003738403},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.6402504444122314},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5819059610366821},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5534260869026184},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5215044617652893},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4663136899471283},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45763587951660156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2854960560798645},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23863664269447327},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08803853392601013},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07338652014732361},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3424501","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3424501","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":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:2fc981514ade407e905213730258f919","is_oa":true,"landing_page_url":"https://doaj.org/article/2fc981514ade407e905213730258f919","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 12, Pp 125931-125941 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3424501","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3424501","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":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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W2021851106","https://openalex.org/W2031489346","https://openalex.org/W2068763856","https://openalex.org/W2101703235","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2218842719","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2560023338","https://openalex.org/W2808571300","https://openalex.org/W2886934227","https://openalex.org/W2920980026","https://openalex.org/W2945487881","https://openalex.org/W2950989657","https://openalex.org/W2963881378","https://openalex.org/W3016959483","https://openalex.org/W3043971245","https://openalex.org/W3083367015","https://openalex.org/W3088596192","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3108513211","https://openalex.org/W3124420883","https://openalex.org/W3169865585","https://openalex.org/W3187115527","https://openalex.org/W3196904463","https://openalex.org/W4213453428","https://openalex.org/W4214868979","https://openalex.org/W4285512267","https://openalex.org/W4391528338"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W3192389065","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W2793342246","https://openalex.org/W3210107545","https://openalex.org/W3094334615","https://openalex.org/W3094796080","https://openalex.org/W2979916171"],"abstract_inverted_index":{"In":[0,124,133],"recent":[1],"years,":[2],"Simultaneous":[3],"Localization":[4],"and":[5,25,41,59,108,154],"Mapping":[6],"(SLAM)":[7],"has":[8,63],"gradually":[9],"become":[10],"a":[11,50,171],"focal":[12],"point":[13],"in":[14,39,43,98,174],"the":[15,67,70,89,102,112,119,129,140,147,155],"field":[16],"of":[17,35,92],"artificial":[18],"intelligence":[19],"applications,":[20],"such":[21],"as":[22],"autonomous":[23],"driving,":[24],"AR/VR,":[26],"demonstrating":[27],"its":[28],"irreplaceable":[29],"role.":[30],"TraditionalSLAMis":[31],"based":[32],"on":[33],"assumptions":[34],"static":[36],"scenes,":[37],"resulting":[38],"lowstability":[40],"accuracy":[42,107,165],"dynamic":[44,79,93,99,136],"environments.":[45],"To":[46],"address":[47],"this":[48],"issue,":[49],"semantic":[51,72,96],"SLAM":[52,97],"system":[53,68,103],"named":[54],"BiSeNetV2-SLAM,":[55],"combining":[56,111],"ORB-SLAM2,":[57,146],"BiSeNetV2,":[58],"optical":[60,82],"flow":[61,83],"fusion,":[62],"been":[64],"proposed.":[65],"Firstly,":[66],"utilizes":[69],"BiSeNetV2":[71],"segmentation":[73],"network":[74],"to":[75,87,145,167],"eliminate":[76],"potential":[77],"prior":[78],"objects.":[80],"Subsequently,":[81],"tracking":[84],"is":[85],"employed":[86],"detect":[88],"motion":[90],"states":[91],"objects,":[94],"achieving":[95],"scenarios.":[100],"Additionally,":[101],"enhances":[104],"feature":[105,121],"matching":[106],"efficiency":[109],"by":[110,150,158],"efficient":[113],"local":[114],"image":[115],"descriptor":[116],"BEBLID":[117],"with":[118],"ORB":[120],"extraction":[122],"method.":[123],"multiple":[125,134],"high-dynamic":[126],"scenes":[127,138],"from":[128,139],"TUM":[130,141],"public":[131,142],"dataset,":[132,143],"high":[135],"range":[137],"compared":[144,166],"RMSE":[148],"increased":[149,157],"more":[151,159],"than":[152,160],"86%,":[153],"S.D.":[156],"89%.":[161],"While":[162],"maintaining":[163],"similar":[164],"DynaSLAM,":[168],"there":[169],"was":[170],"significant":[172],"improvement":[173],"processing":[175],"speed.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}