{"id":"https://openalex.org/W4405179614","doi":"https://doi.org/10.1109/access.2024.3513404","title":"Occupancy Grid Map Construction Based on Semantic Segmentation and a Priori Knowledge","display_name":"Occupancy Grid Map Construction Based on Semantic Segmentation and a Priori Knowledge","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4405179614","doi":"https://doi.org/10.1109/access.2024.3513404"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3513404","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3513404","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.2024.3513404","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079564498","display_name":"Gang Li","orcid":"https://orcid.org/0000-0002-9140-1605"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gang Li","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101120456","display_name":"Yongqiang Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongqiang Fan","raw_affiliation_strings":["College of Electrical Engineering, Guangxi University, Nanning, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100613889","display_name":"Jonathan Li","orcid":"https://orcid.org/0000-0001-7899-0049"},"institutions":[{"id":"https://openalex.org/I4210098640","display_name":"China Tobacco Guangxi Industrial (China)","ror":"https://ror.org/00fzs3g26","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210098640"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Li","raw_affiliation_strings":["Nanning Cigarette Factory, China Tobacco Guangxi Industrial Company Ltd., Nanning, China","Nanning Cigarette Factory, China Tobacco Guangxi Industrial Co., Ltd, Nanning, China"],"affiliations":[{"raw_affiliation_string":"Nanning Cigarette Factory, China Tobacco Guangxi Industrial Company Ltd., Nanning, China","institution_ids":["https://openalex.org/I4210098640"]},{"raw_affiliation_string":"Nanning Cigarette Factory, China Tobacco Guangxi Industrial Co., Ltd, Nanning, China","institution_ids":["https://openalex.org/I4210098640"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043397258","display_name":"Jianfeng Lu","orcid":"https://orcid.org/0000-0002-3636-6528"},"institutions":[{"id":"https://openalex.org/I4210098640","display_name":"China Tobacco Guangxi Industrial (China)","ror":"https://ror.org/00fzs3g26","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210098640"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Lu","raw_affiliation_strings":["Nanning Cigarette Factory, China Tobacco Guangxi Industrial Company Ltd., Nanning, China","Nanning Cigarette Factory, China Tobacco Guangxi Industrial Co., Ltd, Nanning, China"],"affiliations":[{"raw_affiliation_string":"Nanning Cigarette Factory, China Tobacco Guangxi Industrial Company Ltd., Nanning, China","institution_ids":["https://openalex.org/I4210098640"]},{"raw_affiliation_string":"Nanning Cigarette Factory, China Tobacco Guangxi Industrial Co., Ltd, Nanning, China","institution_ids":["https://openalex.org/I4210098640"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079564498"],"corresponding_institution_ids":["https://openalex.org/I150807315"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35334102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"186617","last_page":"186625"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12016","display_name":"Web Data Mining and Analysis","score":0.9595000147819519,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12016","display_name":"Web Data Mining and Analysis","score":0.9595000147819519,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T13734","display_name":"Advanced Computational Techniques and Applications","score":0.9243000149726868,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.813469648361206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.795312762260437},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6200924515724182},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5568062663078308},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.548463761806488},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5368187427520752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44763925671577454},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3664358854293823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0895262062549591},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08528110384941101},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08165910840034485}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.813469648361206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.795312762260437},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6200924515724182},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5568062663078308},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.548463761806488},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5368187427520752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44763925671577454},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3664358854293823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0895262062549591},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08528110384941101},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08165910840034485},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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.2024.3513404","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3513404","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:316b0e0a42274f6686702f05c9180abd","is_oa":true,"landing_page_url":"https://doaj.org/article/316b0e0a42274f6686702f05c9180abd","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 186617-186625 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3513404","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3513404","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W123086243","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1987648924","https://openalex.org/W2104572919","https://openalex.org/W2117228865","https://openalex.org/W2117248802","https://openalex.org/W2214613866","https://openalex.org/W2411071877","https://openalex.org/W2474281075","https://openalex.org/W2523049145","https://openalex.org/W2535547924","https://openalex.org/W2560023338","https://openalex.org/W2565639579","https://openalex.org/W2607968634","https://openalex.org/W2745859992","https://openalex.org/W2771345721","https://openalex.org/W2890003176","https://openalex.org/W2895694995","https://openalex.org/W2910628332","https://openalex.org/W2952813711","https://openalex.org/W2954772682","https://openalex.org/W2963150697","https://openalex.org/W2963619659","https://openalex.org/W2964226622","https://openalex.org/W3034514115","https://openalex.org/W3034976873","https://openalex.org/W3090386798","https://openalex.org/W3132270109","https://openalex.org/W3170410843","https://openalex.org/W3216654985","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W2202433167","https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W1999050017","https://openalex.org/W5037887","https://openalex.org/W4229444815","https://openalex.org/W4293877624","https://openalex.org/W1538887534"],"abstract_inverted_index":{"Navigational":[0],"map":[1,25,102,133],"is":[2,48,63,127],"a":[3,24,49,57,84,94],"prerequisite":[4],"for":[5,30,52],"automatic":[6],"guided":[7],"vehicle.":[8],"The":[9,107,156],"traditional":[10],"feature-based":[11],"visual":[12],"Simultaneous":[13],"Localization":[14],"and":[15,71,121,161],"Mapping":[16,90],"(vSLAM)":[17],"systems":[18,54,151],"extract":[19],"sparse":[20],"points":[21],"to":[22,55,73,97,130,146],"generate":[23],"that":[26,92],"cannot":[27],"be":[28],"used":[29],"navigation":[31,101,132],"or":[32,43,68],"path":[33],"planning.":[34],"Generally,":[35],"dense":[36,104,153],"depth":[37,61,105,154],"estimation":[38,62],"based":[39],"on":[40],"multi-view":[41],"geometry":[42],"Convolutional":[44],"Neural":[45],"Network":[46],"(CNN)":[47],"typical":[50],"Solution":[51],"vSLAM":[53],"construct":[56,98],"navigational":[58],"map.":[59],"However,":[60],"sometimes":[64],"inaccurate":[65,139],"in":[66,76],"low-texture":[67],"reflective":[69],"regions":[70],"difficult":[72],"evaluate":[74],"errors":[75,135],"practice.":[77],"To":[78],"improve":[79],"these":[80],"problems,":[81],"we":[82],"propose":[83],"solution":[85],"named":[86],"Semantics-guided":[87],"Structure":[88],"Reconstruction":[89],"(SSR-Mapping)":[91],"utilizes":[93],"stereo":[95],"camera":[96],"an":[99],"indoor":[100,118],"avoiding":[103],"estimation.":[106,155],"key":[108],"aspects":[109],"of":[110,117,166],"SSR-Mapping":[111,148],"are":[112,143],"semantic":[113,140],"segmentation,":[114],"priori":[115],"knowledge":[116],"structure":[119],"features,":[120],"visibility":[122],"constraint.":[123],"A":[124],"post-process":[125],"method":[126],"also":[128],"proposed":[129],"correct":[131],"reconstruction":[134],"resulting":[136],"from":[137],"some":[138],"segmentation.":[141],"Experiments":[142],"carried":[144],"out":[145],"compare":[147],"with":[149],"the":[150,159,163],"using":[152],"results":[157],"validate":[158],"feasibility":[160],"show":[162],"promising":[164],"performance":[165],"SSR-Mapping.":[167]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}