{"id":"https://openalex.org/W3129250013","doi":"https://doi.org/10.1109/iros45743.2020.9341180","title":"SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information","display_name":"SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129250013","doi":"https://doi.org/10.1109/iros45743.2020.9341180","mag":"3129250013"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341180","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100571568","display_name":"Xun Yuan","orcid":"https://orcid.org/0009-0003-7285-3010"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xun Yuan","raw_affiliation_strings":["University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100423614","display_name":"Song Chen","orcid":"https://orcid.org/0000-0003-0341-3428"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Chen","raw_affiliation_strings":["University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100571568"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":8.6291,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.97529352,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4930","last_page":"4935"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8325363397598267},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8022461533546448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7957298755645752},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.7764741778373718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7444205284118652},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6734903454780579},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6204262375831604},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.555620551109314},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4718986451625824},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45087385177612305},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4268649220466614},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3841542601585388},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.200371652841568}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8325363397598267},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8022461533546448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7957298755645752},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.7764741778373718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7444205284118652},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6734903454780579},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6204262375831604},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.555620551109314},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4718986451625824},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45087385177612305},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4268649220466614},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3841542601585388},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.200371652841568},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341180","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2068763856","https://openalex.org/W2074515009","https://openalex.org/W2101703235","https://openalex.org/W2108598243","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2804394440","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963881378","https://openalex.org/W3043075211","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W6618872416","https://openalex.org/W6668962430","https://openalex.org/W6752208963"],"related_works":["https://openalex.org/W2822883015","https://openalex.org/W2295870746","https://openalex.org/W2086478527","https://openalex.org/W2118648141","https://openalex.org/W2962973652","https://openalex.org/W3138755061","https://openalex.org/W2167293474","https://openalex.org/W2972219788","https://openalex.org/W2134943711","https://openalex.org/W4200045985"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,25,79,111,125,172],"Mapping":[3],"(SLAM)":[4],"is":[5],"considered":[6],"significant":[7],"for":[8],"intelligent":[9],"mobile":[10],"robot":[11],"autonomous":[12],"pathfinding.":[13],"Over":[14],"the":[15,39,48,75,103,107,135,150,162],"past":[16],"years,":[17],"many":[18],"successful":[19],"SLAM":[20,62],"systems":[21,49],"have":[22],"been":[23],"developed":[24],"works":[26],"satisfactorily":[27],"in":[28,32,71,113,143],"static":[29,123,126],"environments.":[30,73],"However,":[31],"some":[33],"dynamic":[34,72,114,179],"scenes":[35],"with":[36,161,170],"moving":[37],"objects,":[38],"camera":[40,136],"pose":[41,137],"estimation":[42],"error":[43],"would":[44],"be":[45,157],"unacceptable,":[46],"or":[47],"even":[50],"lose":[51],"their":[52],"locations.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57,82,93,116],"present":[58],"SaD-SLAM,":[59],"a":[60],"visual":[61],"system":[63,108],"that,":[64],"building":[65],"on":[66],"ORB-SLAM2,":[67],"achieves":[68],"excellent":[69],"performance":[70],"With":[74],"help":[76],"of":[77,154],"semantic":[78],"depth":[80],"information,":[81],"find":[83],"out":[84],"feature":[85,97,119,127],"points":[86,98,120,128],"that":[87],"belong":[88],"to":[89,133,177],"movable":[90,131],"objects.":[91],"And":[92],"detect":[94],"whether":[95],"those":[96],"are":[99,175],"keeping":[100],"still":[101],"at":[102],"moment.":[104],"To":[105],"make":[106],"perform":[109],"accurately":[110],"robustly":[112],"scenes,":[115],"use":[117],"both":[118],"extracted":[121],"from":[122,130],"objects":[124,132],"derived":[129],"finetune":[134],"estimation.":[138],"We":[139,165],"evaluate":[140],"our":[141,168],"algorithm":[142,169],"TUM":[144],"RGB-D":[145],"datasets.":[146],"The":[147],"results":[148],"demonstrate":[149],"absolute":[151],"trajectory":[152],"accuracy":[153],"SaD-SLAM":[155],"can":[156],"improved":[158],"significantly":[159],"compared":[160],"original":[163],"ORB-SLAM2.":[164],"also":[166],"compare":[167],"DynaSLAM":[171],"DS-SLAM,":[173],"which":[174],"designed":[176],"fit":[178],"scenes.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":12}],"updated_date":"2026-02-01T03:34:12.195049","created_date":"2025-10-10T00:00:00"}