{"id":"https://openalex.org/W3190102146","doi":"https://doi.org/10.1109/iros51168.2021.9636156","title":"SemSegMap \u2013 3D Segment-based Semantic Localization","display_name":"SemSegMap \u2013 3D Segment-based Semantic Localization","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3190102146","doi":"https://doi.org/10.1109/iros51168.2021.9636156","mag":"3190102146"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636156","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.14715","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048141350","display_name":"Andrei Cramariuc","orcid":"https://orcid.org/0000-0002-9301-0253"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andrei Cramariuc","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042419873","display_name":"Florian Tschopp","orcid":"https://orcid.org/0000-0001-7346-2941"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Florian Tschopp","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067744937","display_name":"Nikhilesh Alatur","orcid":"https://orcid.org/0000-0003-4783-788X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nikhilesh Alatur","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043647545","display_name":"Stefan Benz","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Benz","raw_affiliation_strings":["Robert Bosch GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071796825","display_name":"Tillmann Falck","orcid":"https://orcid.org/0009-0000-6827-9931"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tillmann Falck","raw_affiliation_strings":["Robert Bosch GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060546022","display_name":"Marius Br\u00fchlmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marius Bruhlmeier","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091090212","display_name":"Benjamin Hahn","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Benjamin Hahn","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I4210139986","display_name":"Microsoft (Switzerland)","ror":"https://ror.org/03zryq964","country_code":"CH","type":"company","lineage":["https://openalex.org/I1290206253","https://openalex.org/I4210139986"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Microsoft, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft, Switzerland","institution_ids":["https://openalex.org/I4210139986"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1183","last_page":"1190"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980999827384949,"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":0.8266914486885071},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7373818755149841},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7098950743675232},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6427794098854065},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6318312883377075},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.615167498588562},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.58818519115448},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5846148729324341},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5516284704208374},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4546436071395874},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4154527485370636},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25729262828826904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24710118770599365}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8266914486885071},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7373818755149841},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7098950743675232},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6427794098854065},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6318312883377075},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.615167498588562},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.58818519115448},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5846148729324341},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5516284704208374},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4546436071395874},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4154527485370636},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25729262828826904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24710118770599365},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros51168.2021.9636156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636156","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"},{"id":"pmh:oai:arXiv.org:2107.14715","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.14715","pdf_url":"https://arxiv.org/pdf/2107.14715","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3190102146","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2107.14715v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2107.14715","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.14715","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.14715","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.14715","pdf_url":"https://arxiv.org/pdf/2107.14715","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313176","display_name":"Robert Bosch","ror":"https://ror.org/02venad53"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3190102146.pdf","grobid_xml":"https://content.openalex.org/works/W3190102146.grobid-xml"},"referenced_works_count":64,"referenced_works":["https://openalex.org/W1509463039","https://openalex.org/W1612997784","https://openalex.org/W1968315983","https://openalex.org/W2083624955","https://openalex.org/W2110405746","https://openalex.org/W2148823327","https://openalex.org/W2160821342","https://openalex.org/W2167340365","https://openalex.org/W2179042386","https://openalex.org/W2275442570","https://openalex.org/W2284029970","https://openalex.org/W2335829695","https://openalex.org/W2461937780","https://openalex.org/W2615547864","https://openalex.org/W2620629206","https://openalex.org/W2770176163","https://openalex.org/W2809605404","https://openalex.org/W2876324142","https://openalex.org/W2894112213","https://openalex.org/W2905255369","https://openalex.org/W2914921243","https://openalex.org/W2951349360","https://openalex.org/W2951870616","https://openalex.org/W2953205834","https://openalex.org/W2955544543","https://openalex.org/W2957348723","https://openalex.org/W2962867954","https://openalex.org/W2963121255","https://openalex.org/W2963256208","https://openalex.org/W2963324085","https://openalex.org/W2963847924","https://openalex.org/W2964002455","https://openalex.org/W2964014140","https://openalex.org/W2964128312","https://openalex.org/W2964157791","https://openalex.org/W2968147691","https://openalex.org/W2981756104","https://openalex.org/W2994881679","https://openalex.org/W2996045557","https://openalex.org/W3003991701","https://openalex.org/W3028392891","https://openalex.org/W3039808820","https://openalex.org/W3089353397","https://openalex.org/W3089904094","https://openalex.org/W3094298779","https://openalex.org/W3099727102","https://openalex.org/W3103648783","https://openalex.org/W3111205756","https://openalex.org/W3117590843","https://openalex.org/W3120688681","https://openalex.org/W3124420883","https://openalex.org/W3126212366","https://openalex.org/W3127188503","https://openalex.org/W3164083741","https://openalex.org/W3206049666","https://openalex.org/W6737769214","https://openalex.org/W6739778489","https://openalex.org/W6744179694","https://openalex.org/W6745935785","https://openalex.org/W6754898895","https://openalex.org/W6756676737","https://openalex.org/W6764177528","https://openalex.org/W6778231270","https://openalex.org/W6787154486"],"related_works":["https://openalex.org/W3099727102","https://openalex.org/W3159745129","https://openalex.org/W3092669602","https://openalex.org/W2791791089","https://openalex.org/W3106218637","https://openalex.org/W3190285627","https://openalex.org/W3085583000","https://openalex.org/W2902092878","https://openalex.org/W3087774910","https://openalex.org/W3206096534","https://openalex.org/W3193606944","https://openalex.org/W2953530994","https://openalex.org/W2789510920","https://openalex.org/W3127697207","https://openalex.org/W3133461340","https://openalex.org/W3149928219","https://openalex.org/W2835677615","https://openalex.org/W2963286292","https://openalex.org/W3165409529","https://openalex.org/W2593617942"],"abstract_inverted_index":{"Localization":[0],"is":[1,162],"an":[2],"essential":[3],"task":[4],"for":[5,169],"mobile":[6],"autonomous":[7],"robotic":[8,27],"systems":[9],"that":[10,194],"want":[11],"to":[12,44,61,71,97,107,165,189,198,208],"use":[13],"pre-existing":[14],"maps":[15,216],"or":[16],"create":[17],"new":[18,117],"ones":[19],"in":[20,75,86,138,156,226],"the":[21,49,105,150,174],"context":[22],"of":[23,48,176],"SLAM.":[24],"Today,":[25],"many":[26],"platforms":[28],"are":[29,196],"equipped":[30],"with":[31,58],"high-accuracy":[32,203],"3D":[33,62],"LiDAR":[34],"sensors,":[35],"which":[36],"allow":[37],"a":[38,91,147,152,157,166],"geometric":[39],"mapping,":[40],"and":[41,53,101,111,119,133,142,182,185],"cameras":[42],"able":[43,96,197],"provide":[45],"semantic":[46,66,102,134],"cues":[47],"environment.":[50],"Segment-based":[51],"mapping":[52,94],"localization":[54,73,109],"have":[55],"been":[56,69],"applied":[57],"great":[59],"success":[60],"point-cloud":[63],"data,":[64],"while":[65,217],"understanding":[67],"has":[68],"shown":[70],"improve":[72,108],"performance":[74,188],"vision":[76],"based":[77,93],"systems.":[78],"In":[79,113],"this":[80,177],"paper":[81],"we":[82,115,195],"combine":[83],"both":[84],"modalities":[85],"SemSegMap,":[87],"extending":[88],"SegMap":[89,209],"into":[90],"segment":[92],"framework":[95],"also":[98,218],"leverage":[99],"color":[100,132],"data":[103],"from":[104,127,131],"environment":[106],"accuracy":[110],"robustness.":[112],"particular,":[114],"present":[116],"segmentation":[118,124],"descriptor":[120,159],"extraction":[121,160],"processes.":[122],"The":[123],"process":[125],"benefits":[126],"additional":[128],"distance":[129],"information":[130],"class":[135],"consistency":[136],"resulting":[137],"more":[139,143,202],"repeatable":[140],"segments":[141],"overlap":[144],"after":[145],"re-visiting":[146],"place.":[148],"For":[149],"descriptor,":[151],"tight":[153],"fusion":[154,178],"approach":[155],"deep-learned":[158],"network":[161],"performed":[163],"leading":[164],"higher":[167],"descriptiveness":[168],"landmark":[170],"matching.":[171],"We":[172,192],"demonstrate":[173],"advantages":[175],"on":[179,210],"multiple":[180],"simulated":[181],"real-world":[183],"datasets":[184,212],"compare":[186],"its":[187],"various":[190],"baselines.":[191],"show":[193],"find":[199],"50.9":[200],"%":[201],"prior-less":[204],"global":[205],"localizations":[206],"compared":[207],"challenging":[211],"using":[213],"very":[214],"compact":[215],"providing":[219],"accurate":[220],"full":[221],"6":[222],"DoF":[223],"pose":[224],"estimates":[225],"real-time.":[227]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}