{"id":"https://openalex.org/W2767841593","doi":"https://doi.org/10.1109/ecmr.2017.8098697","title":"Semantic visual SLAM in populated environments","display_name":"Semantic visual SLAM in populated environments","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2767841593","doi":"https://doi.org/10.1109/ecmr.2017.8098697","mag":"2767841593"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018256987","display_name":"Luis Riazuelo","orcid":"https://orcid.org/0000-0002-6722-5541"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"L. Riazuelo","raw_affiliation_strings":["Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113286835","display_name":"Luis Montano","orcid":"https://orcid.org/0000-0002-0449-2300"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"L. Montano","raw_affiliation_strings":["Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072782079","display_name":"J. M. M. Montiel","orcid":"https://orcid.org/0000-0002-3627-7306"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. M. M. Montiel","raw_affiliation_strings":["Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Real-Time Group, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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":0.9965999722480774,"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-vision","display_name":"Computer vision","score":0.8029041290283203},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7615760564804077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7472620010375977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7008776068687439},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.689556360244751},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5845245718955994},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46220752596855164},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4421739876270294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3756176829338074},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3332338333129883}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8029041290283203},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7615760564804077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7472620010375977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7008776068687439},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.689556360244751},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5845245718955994},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46220752596855164},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4421739876270294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3756176829338074},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3332338333129883},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2017.8098697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W37193316","https://openalex.org/W861352110","https://openalex.org/W1513629660","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1924569945","https://openalex.org/W1951265541","https://openalex.org/W1964502729","https://openalex.org/W1965865731","https://openalex.org/W1987648924","https://openalex.org/W1989484209","https://openalex.org/W1989838848","https://openalex.org/W1992825118","https://openalex.org/W1994529670","https://openalex.org/W2033979122","https://openalex.org/W2035238312","https://openalex.org/W2047328415","https://openalex.org/W2059993653","https://openalex.org/W2083518140","https://openalex.org/W2096349671","https://openalex.org/W2097696373","https://openalex.org/W2099570340","https://openalex.org/W2131263044","https://openalex.org/W2133844819","https://openalex.org/W2150183285","https://openalex.org/W2151290401","https://openalex.org/W2153565331","https://openalex.org/W2162731263","https://openalex.org/W2199373886","https://openalex.org/W2489822048","https://openalex.org/W2535547924","https://openalex.org/W2557197099","https://openalex.org/W2901136733","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W6623841700","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2086478527","https://openalex.org/W2921707373","https://openalex.org/W2962973652","https://openalex.org/W3088596192","https://openalex.org/W4386066041","https://openalex.org/W2058063222","https://openalex.org/W2734306012","https://openalex.org/W2945487881","https://openalex.org/W1659416099","https://openalex.org/W2134943711"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,21,100,192,200],"visual":[3,180],"SLAM":[4,118,181],"(Simultaneous":[5],"Localization":[6],"And":[7],"Mapping)":[8],"system":[9],"able":[10],"to":[11,29,64,84,98,112,145,156],"perform":[12],"robustly":[13],"in":[14,35,141],"populated":[15,142,217],"environments.":[16],"The":[17,32,43,107,173,189],"image":[18,121],"stream":[19],"from":[20,197],"moving":[22,166],"RGB-D":[23,195],"camera":[24,167,198],"is":[25,37,97,109,175],"the":[26,30,49,52,77,85,105,116,120,128,130,132,135,138,147,157,162,165,169,205,212],"only":[27],"input":[28],"system.":[31,106],"computed":[33],"map":[34,140,215],"real-time":[36,101],"composed":[38],"of":[39,51,61,79,115,137,150,161,164,194,211],"two":[40,178,213],"layers:":[41],"1)":[42],"unpopulated":[44,86],"geometrical":[45,139],"layer,":[46,74],"which":[47,75,126],"describes":[48,76],"geometry":[50],"bare":[53],"scene":[54,158],"as":[55,91],"an":[56,89],"occupancy":[57],"grid":[58],"where":[59],"pieces":[60],"information":[62],"corresponding":[63],"people":[65],"have":[66],"been":[67],"removed;":[68],"2)":[69],"A":[70],"semantic":[71],"human":[72,102],"activity":[73],"trajectory":[78,149],"each":[80,151],"person":[81,153,170],"with":[82,154,177],"respect":[83,155],"map,":[87,159],"labelling":[88],"area":[90],"\"traversable\"":[92],"or":[93],"\"occupied\".":[94],"Our":[95],"proposal":[96,174],"embed":[99],"tracker":[103],"into":[104],"purpose":[108],"twofold.":[110],"First,":[111],"mask":[113],"out":[114],"rigid":[117],"pipeline":[119],"regions":[122],"occupied":[123],"by":[124],"people,":[125],"boosts":[127],"robustness,":[129,206],"relocation,":[131],"accuracy":[133,207],"and":[134,184,208],"reusability":[136],"scenes.":[143,218],"Secondly,":[144],"estimate":[146],"full":[148],"detected":[152],"irrespective":[160],"location":[163],"when":[168],"was":[171],"imaged.":[172],"tested":[176],"popular":[179],"systems,":[182],"C2TAM":[183],"ORBSLAM2,":[185],"proving":[186],"its":[187],"generality.":[188],"experiments":[190],"process":[191],"benchmark":[193],"sequences":[196],"onboard":[199],"mobile":[201],"robot.":[202],"They":[203],"prove":[204],"reuse":[209],"capabilities":[210],"layer":[214],"for":[216]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}