{"id":"https://openalex.org/W3130973414","doi":"https://doi.org/10.1109/iros45743.2020.9340845","title":"Exploiting Semantic and Public Prior Information in MonoSLAM","display_name":"Exploiting Semantic and Public Prior Information in MonoSLAM","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130973414","doi":"https://doi.org/10.1109/iros45743.2020.9340845","mag":"3130973414"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10125605/1/Julier_Exploiting_semantic_and_prior_information_in_SLAM.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072878217","display_name":"Chenxi Ye","orcid":"https://orcid.org/0009-0006-1832-7425"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Chenxi Ye","raw_affiliation_strings":["University College London"],"affiliations":[{"raw_affiliation_string":"University College London","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101607122","display_name":"Yiduo Wang","orcid":"https://orcid.org/0000-0003-2975-2882"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Yiduo Wang","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089915339","display_name":"Ziwen Lu","orcid":"https://orcid.org/0000-0002-7364-1824"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ziwen Lu","raw_affiliation_strings":["University College London"],"affiliations":[{"raw_affiliation_string":"University College London","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078356081","display_name":"Igor Gilitschenski","orcid":"https://orcid.org/0000-0001-6426-365X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Igor Gilitschenski","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab, MIT"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064193582","display_name":"M.P. Parsley","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin Parsley","raw_affiliation_strings":["Mo-Sys Engineering Ltd"],"affiliations":[{"raw_affiliation_string":"Mo-Sys Engineering Ltd","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049634973","display_name":"Simon Julier","orcid":"https://orcid.org/0000-0003-4380-137X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon J. Julier","raw_affiliation_strings":["University College London"],"affiliations":[{"raw_affiliation_string":"University College London","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072878217"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":3.2541,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95411875,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9941999912261963,"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":0.7420613169670105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.671562910079956},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6323965787887573},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6057853698730469},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.501629114151001},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.48965007066726685},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48677635192871094},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.41319388151168823},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32166409492492676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16383910179138184},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12504369020462036}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7420613169670105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.671562910079956},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6323965787887573},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6057853698730469},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.501629114151001},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.48965007066726685},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48677635192871094},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.41319388151168823},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32166409492492676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16383910179138184},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12504369020462036},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"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/iros45743.2020.9340845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10125605","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10125605/","pdf_url":"https://discovery.ucl.ac.uk/10125605/1/Julier_Exploiting_semantic_and_prior_information_in_SLAM.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 4936-4941).  IEEE (2020)     ","raw_type":"Proceedings paper"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10125605","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10125605/","pdf_url":"https://discovery.ucl.ac.uk/10125605/1/Julier_Exploiting_semantic_and_prior_information_in_SLAM.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 4936-4941).  IEEE (2020)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3130973414.pdf","grobid_xml":"https://content.openalex.org/works/W3130973414.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2014001040","https://openalex.org/W2065385080","https://openalex.org/W2109271936","https://openalex.org/W2115579991","https://openalex.org/W2116124914","https://openalex.org/W2146881125","https://openalex.org/W2150722677","https://openalex.org/W2151477068","https://openalex.org/W2153054365","https://openalex.org/W2340897893","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2567520225","https://openalex.org/W2580369984","https://openalex.org/W2760117960","https://openalex.org/W2906636743","https://openalex.org/W2964309882","https://openalex.org/W2967044683","https://openalex.org/W3102327032","https://openalex.org/W3105145091","https://openalex.org/W6748481559"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"In":[0],"this":[1,59,121],"paper,":[2],"we":[3,123,165],"propose":[4],"a":[5,19,46,173],"method":[6],"to":[7,11,92,135,183],"use":[8,14,83],"semantic":[9,94,114,131],"information":[10,138],"improve":[12],"the":[13,26,28,31,55,63,69,72,80,84,102,105,110,117,149,178,187,192],"of":[15,71,113,151],"map":[16,47,65,107],"priors":[17],"in":[18,30,104],"sparse,":[20],"feature-based":[21],"MonoSLAM":[22],"system.":[23],"To":[24],"incorporate":[25,136],"priors,":[27],"features":[29,73,103],"prior":[32,56,88,118,137],"and":[33,50,68],"SLAM":[34,49,106],"maps":[35,89],"must":[36],"be":[37,77],"associated":[38],"with":[39,54],"one":[40],"another.":[41],"Most":[42],"existing":[43],"systems":[44],"build":[45],"using":[48,126],"then":[51],"align":[52],"it":[53,75],"map.":[57,119],"However,":[58],"approach":[60],"assumes":[61],"that":[62,86,148,160,167],"local":[64],"is":[66,156,170,181],"accurate,":[67],"majority":[70],"within":[74],"can":[76],"constrained":[78],"by":[79],"prior.":[81],"We":[82,146],"intuition":[85],"many":[87],"are":[90],"created":[91],"provide":[93],"information.":[95],"Therefore,":[96],"valid":[97],"associations":[98],"only":[99],"exist":[100],"if":[101],"arise":[108],"from":[109,139],"same":[111],"kind":[112],"object":[115],"as":[116,172],"Using":[120],"intuition,":[122],"extend":[124],"ORB-SLAM2":[125,169,189],"an":[127],"open":[128],"source":[129],"pre-trained":[130],"segmentation":[132],"network":[133],"(DeepLabV3+)":[134],"Open":[140],"Street":[141],"Map":[142],"building":[143],"footprint":[144],"data.":[145],"show":[147,166],"amount":[150],"drift,":[152],"before":[153],"loop":[154,198],"closing,":[155],"significantly":[157],"smaller":[158],"than":[159,186],"for":[161,194],"original":[162],"ORB-SLAM2.":[163],"Furthermore,":[164],"when":[168],"used":[171],"prior-aided":[174],"visual":[175],"odometry":[176],"system,":[177],"tracking":[179],"accuracy":[180],"equal":[182],"or":[184,197],"better":[185],"full":[188],"system":[190],"without":[191],"need":[193],"global":[195],"mapping":[196],"closure.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}