{"id":"https://openalex.org/W3205251654","doi":"https://doi.org/10.1109/icra48506.2021.9560884","title":"SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure","display_name":"SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205251654","doi":"https://doi.org/10.1109/icra48506.2021.9560884","mag":"3205251654"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100412846","display_name":"Lin Li","orcid":"https://orcid.org/0000-0002-2034-982X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Li","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021690011","display_name":"Xin Kong","orcid":"https://orcid.org/0000-0003-4491-2522"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Kong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068269158","display_name":"Xiangrui Zhao","orcid":"https://orcid.org/0000-0002-0129-1933"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrui Zhao","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005172019","display_name":"Wanlong Li","orcid":"https://orcid.org/0000-0001-5886-1426"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanlong Li","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034468581","display_name":"Feng Wen","orcid":"https://orcid.org/0000-0001-7536-638X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wen","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461116","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0009-0005-8753-2580"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7627","last_page":"7634"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7103171944618225},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6713952422142029},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6579163074493408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6269049644470215},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5356985926628113},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5192708969116211},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.439369797706604},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4303783178329468},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4243682026863098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34431254863739014},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1903461515903473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1365036964416504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11708128452301025}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103171944618225},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6713952422142029},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6579163074493408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6269049644470215},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5356985926628113},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5192708969116211},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.439369797706604},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4303783178329468},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4243682026863098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34431254863739014},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1903461515903473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1365036964416504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11708128452301025},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1567242735","https://openalex.org/W1972485825","https://openalex.org/W1995963656","https://openalex.org/W2099606917","https://openalex.org/W2115579991","https://openalex.org/W2139114878","https://openalex.org/W2153054365","https://openalex.org/W2160821342","https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2527172881","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2798194297","https://openalex.org/W2798278946","https://openalex.org/W2805521962","https://openalex.org/W2808571300","https://openalex.org/W2809605404","https://openalex.org/W2876324142","https://openalex.org/W2897828525","https://openalex.org/W2902610326","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2957348723","https://openalex.org/W2963046720","https://openalex.org/W2963121255","https://openalex.org/W2963600667","https://openalex.org/W2963708168","https://openalex.org/W2970971581","https://openalex.org/W2986519585","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2998553944","https://openalex.org/W3003250797","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3011465262","https://openalex.org/W3012494314","https://openalex.org/W3035617611","https://openalex.org/W3039808820","https://openalex.org/W3047223011","https://openalex.org/W3099455272","https://openalex.org/W3099727102","https://openalex.org/W3100687815","https://openalex.org/W3106458387","https://openalex.org/W3107479685","https://openalex.org/W3109154950","https://openalex.org/W3132982513","https://openalex.org/W3164083741","https://openalex.org/W3165205231","https://openalex.org/W4249866455","https://openalex.org/W4295312788","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6766978945","https://openalex.org/W6770461684","https://openalex.org/W6780257433","https://openalex.org/W6781274669","https://openalex.org/W6781600403","https://openalex.org/W6786618451"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852"],"abstract_inverted_index":{"LiDAR-based":[0],"SLAM":[1,56],"system":[2,138],"is":[3,16],"admittedly":[4],"more":[5],"accurate":[6],"and":[7,37,43,86,89,116,131,149],"stable":[8],"than":[9],"others,":[10],"while":[11],"its":[12],"loop":[13,58,73,99,113],"closure":[14,59,74,100],"detection":[15,101],"still":[17],"an":[18],"open":[19],"issue.":[20],"With":[21],"the":[22,109],"development":[23],"of":[24],"3D":[25],"semantic":[26,31,92,121],"segmentation":[27],"for":[28,40],"point":[29],"cloud,":[30],"information":[32],"can":[33,107],"be":[34],"obtained":[35],"conveniently":[36],"steadily,":[38],"essential":[39],"high-level":[41],"intelligence":[42],"conductive":[44],"to":[45,146],"SLAM.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50,77,106],"present":[51],"a":[52,79,91,118],"novel":[53],"semantic-aided":[54],"LiDAR":[55],"with":[57,154],"based":[60],"on":[61,129],"LOAM,":[62],"named":[63],"SA-LOAM,":[64],"which":[65],"leverages":[66],"semantics":[67],"in":[68,97,124],"odometry":[69],"as":[70,72],"well":[71],"detection.":[75],"Specifically,":[76],"propose":[78],"semantic-assisted":[80],"ICP,":[81],"including":[82],"semantically":[83],"matching,":[84],"downsampling":[85],"plane":[87],"constraint,":[88],"integrates":[90],"graph-based":[93],"place":[94],"recognition":[95],"method":[96],"our":[98,137],"module.":[102],"Benefitting":[103],"from":[104],"semantics,":[105],"improve":[108],"localization":[110],"accuracy,":[111],"detect":[112],"closures":[114],"effectively,":[115],"construct":[117],"global":[119],"consistent":[120],"map":[122],"even":[123],"large-scale":[125],"scenes.":[126],"Extensive":[127],"experiments":[128],"KITTI":[130],"Ford":[132],"Campus":[133],"dataset":[134],"show":[135],"that":[136],"significantly":[139],"improves":[140],"baseline":[141],"performance,":[142],"has":[143],"generalization":[144],"ability":[145],"unseen":[147],"data":[148],"achieves":[150],"competitive":[151],"results":[152],"compared":[153],"state-of-the-art":[155],"methods.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
