{"id":"https://openalex.org/W4206800736","doi":"https://doi.org/10.1109/iros51168.2021.9635913","title":"Hierarchical Segment-based Optimization for SLAM","display_name":"Hierarchical Segment-based Optimization for SLAM","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4206800736","doi":"https://doi.org/10.1109/iros51168.2021.9635913"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635913","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5050862126","display_name":"Yu\u2010Xin Tian","orcid":"https://orcid.org/0000-0001-8982-3174"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuxin Tian","raw_affiliation_strings":["Intel Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373808","display_name":"Yujie Wang","orcid":"https://orcid.org/0000-0001-6229-4006"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yujie Wang","raw_affiliation_strings":["Intel Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001031798","display_name":"Mingjun Ouyang","orcid":"https://orcid.org/0000-0002-4289-3252"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Ouyang","raw_affiliation_strings":["Intel Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047341502","display_name":"Xuesong Shi","orcid":"https://orcid.org/0000-0002-3880-4501"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuesong Shi","raw_affiliation_strings":["Intel Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6889,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84410422,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6573","last_page":"6580"},"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":0.9986000061035156,"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":0.9977999925613403,"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":0.7586171627044678},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6892414689064026},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5230967998504639},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5134573578834534},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.49793195724487305},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.478220671415329},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4622291028499603},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4322316646575928},{"id":"https://openalex.org/keywords/constrained-optimization-problem","display_name":"Constrained optimization problem","score":0.42411357164382935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3999929130077362},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3493972420692444},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30195754766464233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14063933491706848},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13374224305152893},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.080290287733078}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7586171627044678},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6892414689064026},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5230967998504639},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5134573578834534},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.49793195724487305},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.478220671415329},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4622291028499603},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4322316646575928},{"id":"https://openalex.org/C2989514635","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization problem","level":3,"score":0.42411357164382935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3999929130077362},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3493972420692444},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30195754766464233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14063933491706848},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13374224305152893},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.080290287733078},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635913","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":27,"referenced_works":["https://openalex.org/W1836794077","https://openalex.org/W2001790138","https://openalex.org/W2021851106","https://openalex.org/W2036396246","https://openalex.org/W2081675903","https://openalex.org/W2137052305","https://openalex.org/W2143116602","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2296024066","https://openalex.org/W2396274919","https://openalex.org/W2461079165","https://openalex.org/W2468215248","https://openalex.org/W2471962767","https://openalex.org/W2535547924","https://openalex.org/W2798513908","https://openalex.org/W2806395994","https://openalex.org/W2977977449","https://openalex.org/W3001951043","https://openalex.org/W3020987090","https://openalex.org/W3102327032","https://openalex.org/W3103957575","https://openalex.org/W3110163271","https://openalex.org/W3110496494","https://openalex.org/W6697331637","https://openalex.org/W6776197037","https://openalex.org/W6783517913"],"related_works":["https://openalex.org/W3101253900","https://openalex.org/W2347892399","https://openalex.org/W2133687134","https://openalex.org/W3038596169","https://openalex.org/W2355999325","https://openalex.org/W345637666","https://openalex.org/W2145128058","https://openalex.org/W2170850735","https://openalex.org/W4312614571","https://openalex.org/W2531178156"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,37,115],"hierarchical":[4],"segment-based":[5],"optimization":[6,69,101,112],"method":[7,22,95,113],"for":[8,40],"Simultaneous":[9],"Localization":[10],"and":[11,65,108],"Mapping":[12],"(SLAM)":[13],"system.":[14],"First":[15],"we":[16,35,54],"propose":[17,36],"reliable":[19],"trajectory":[20],"segmentation":[21],"that":[23,93],"can":[24],"be":[25],"used":[26],"to":[27,44,58,70,74,82],"increase":[28],"efficiency":[29,99],"in":[30,106],"the":[31,41,46,49,52,60,77,90,98],"back-end":[32],"optimization.":[33],"Then":[34],"buffer":[38],"mechanism":[39],"first":[42],"time":[43],"improve":[45],"robustness":[47],"of":[48,68,79,84,100],"segmentation.":[50],"During":[51],"optimization,":[53],"use":[55],"global":[56],"information":[57],"optimize":[59],"frames":[61,73],"with":[62,102],"large":[63,116],"error,":[64],"interpolation":[66],"instead":[67],"update":[71],"well-estimated":[72],"hierarchically":[75],"allocate":[76],"amount":[78],"computation":[80],"according":[81],"error":[83],"each":[85],"frame.":[86],"Comparative":[87],"experiments":[88],"on":[89],"benchmark":[91],"show":[92],"our":[94],"greatly":[96],"improves":[97],"almost":[103],"no":[104],"drop":[105],"accuracy,":[107],"outperforms":[109],"existing":[110],"high-efficiency":[111],"by":[114],"margin.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}