{"id":"https://openalex.org/W4389667422","doi":"https://doi.org/10.1109/iros55552.2023.10341419","title":"SELVO: A Semantic-Enhanced Lidar-Visual Odometry","display_name":"SELVO: A Semantic-Enhanced Lidar-Visual Odometry","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667422","doi":"https://doi.org/10.1109/iros55552.2023.10341419"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5087732258","display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0002-0436-1212"},"institutions":[{"id":"https://openalex.org/I4210137766","display_name":"Institute for Advanced Study","ror":"https://ror.org/03xg85719","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210137766"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Kun Jiang","raw_affiliation_strings":["School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210137766"]},{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101601991","display_name":"Shuang Gao","orcid":"https://orcid.org/0000-0002-6875-9166"},"institutions":[{"id":"https://openalex.org/I109556086","display_name":"Autoliv (Sweden)","ror":"https://ror.org/01jy49h31","country_code":"SE","type":"company","lineage":["https://openalex.org/I109556086"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shuang Gao","raw_affiliation_strings":["Li Auto Inc,Shanghai,China","Li Auto Inc, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Li Auto Inc,Shanghai,China","institution_ids":["https://openalex.org/I109556086"]},{"raw_affiliation_string":"Li Auto Inc, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441855","display_name":"Xudong Zhang","orcid":"https://orcid.org/0000-0002-6465-7437"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xudong Zhang","raw_affiliation_strings":["OPPO Research Institute,Shanghai,China","OPPO Research Institute, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OPPO Research Institute,Shanghai,China","institution_ids":[]},{"raw_affiliation_string":"OPPO Research Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042415185","display_name":"Jijunnan Li","orcid":"https://orcid.org/0000-0002-3587-7959"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jijunnan Li","raw_affiliation_strings":["OPPO Research Institute,Shanghai,China","OPPO Research Institute, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OPPO Research Institute,Shanghai,China","institution_ids":[]},{"raw_affiliation_string":"OPPO Research Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038064028","display_name":"Yandong Guo","orcid":"https://orcid.org/0000-0002-4594-8415"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yandong Guo","raw_affiliation_strings":["AI2 Robotics,Shenzhen,China","AI2 Robotics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI2 Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]},{"raw_affiliation_string":"AI2 Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424830","display_name":"Shijie Liu","orcid":"https://orcid.org/0000-0002-4228-6890"},"institutions":[{"id":"https://openalex.org/I4210137766","display_name":"Institute for Advanced Study","ror":"https://ror.org/03xg85719","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210137766"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Shijie Liu","raw_affiliation_strings":["School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210137766"]},{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017947596","display_name":"Chunlai Li","orcid":"https://orcid.org/0000-0002-0817-2742"},"institutions":[{"id":"https://openalex.org/I4210135723","display_name":"Shanghai Institute of Technical Physics","ror":"https://ror.org/02txedb84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210135723"]},{"id":"https://openalex.org/I4210137766","display_name":"Institute for Advanced Study","ror":"https://ror.org/03xg85719","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210137766"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Chunlai Li","raw_affiliation_strings":["School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai, China","School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210137766"]},{"raw_affiliation_string":"Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210135723"]},{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115597626","display_name":"Jianyu Wang","orcid":"https://orcid.org/0009-0000-3617-8562"},"institutions":[{"id":"https://openalex.org/I4210135723","display_name":"Shanghai Institute of Technical Physics","ror":"https://ror.org/02txedb84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210135723"]},{"id":"https://openalex.org/I4210137766","display_name":"Institute for Advanced Study","ror":"https://ror.org/03xg85719","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210137766"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Jianyu Wang","raw_affiliation_strings":["School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai, China","School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210137766"]},{"raw_affiliation_string":"Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210135723"]},{"raw_affiliation_string":"School of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1473","last_page":"1480"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9965999722480774,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8726003170013428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7880024313926697},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7350924611091614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7319095134735107},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.719902753829956},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7116422653198242},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6990785002708435},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6640413403511047},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5723479390144348},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4760817587375641},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.466207355260849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32782864570617676},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24389734864234924},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.20527037978172302},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09801614284515381}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8726003170013428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7880024313926697},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7350924611091614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7319095134735107},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.719902753829956},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7116422653198242},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6990785002708435},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6640413403511047},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5723479390144348},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4760817587375641},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.466207355260849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32782864570617676},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24389734864234924},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.20527037978172302},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09801614284515381},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":33,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2535547924","https://openalex.org/W2886968365","https://openalex.org/W2894112213","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2938818630","https://openalex.org/W2951870616","https://openalex.org/W2971097982","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3011465262","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3100687815","https://openalex.org/W3102327032","https://openalex.org/W3127368595","https://openalex.org/W3132394694","https://openalex.org/W3133648073","https://openalex.org/W3166285241","https://openalex.org/W3177271542","https://openalex.org/W3199184510","https://openalex.org/W3203066970","https://openalex.org/W3203597819","https://openalex.org/W3205251654","https://openalex.org/W3205534495","https://openalex.org/W3206845495","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W6754898895","https://openalex.org/W6764177528"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W4385894109","https://openalex.org/W2312326526","https://openalex.org/W4389665464","https://openalex.org/W2412578866"],"abstract_inverted_index":{"In":[0,20,70,94],"the":[1,14,26,35,88,92,95,138,146],"face":[2],"of":[3,17,29,37,65,91,128],"complex":[4],"external":[5],"environment,":[6],"single":[7],"sensor":[8,68],"information":[9,39,85],"can":[10,144],"no":[11],"longer":[12],"meet":[13],"accuracy":[15,56,148],"requirements":[16],"low-drift":[18],"SLAM.":[19],"this":[21],"paper,":[22],"we":[23,75,97],"focus":[24],"on":[25,83,130],"fusion":[27],"scheme":[28],"cameras":[30],"and":[31,33,57,62,67,108,112,133,137,149],"lidar,":[32],"explore":[34],"gain":[36],"semantic":[38,84,120],"to":[40,50,86,115],"SLAM":[41],"system.":[42],"A":[43],"Semantic-Enhanced":[44],"Lidar-Visual":[45],"Odometry":[46],"(SELVO)":[47],"is":[48],"proposed":[49],"achieve":[51,145],"pose":[52],"estimation":[53],"with":[54,119,154],"high":[55,147],"robustness":[58],"by":[59],"applying":[60],"semantics":[61],"utilizing":[63],"strategies":[64],"initialization":[66],"fusion.":[69],"loop":[71,109],"closure":[72,110],"detection":[73],"thread,":[74],"propose":[76,114],"a":[77,99,125],"novel":[78],"place":[79],"recognition":[80],"method":[81],"based":[82],"maintain":[87],"global":[89],"consistency":[90],"map.":[93],"back-end,":[96],"design":[98],"joint":[100],"optimization":[101],"framework":[102],"including":[103],"visual":[104],"odometry,":[105],"lidar":[106],"odometry":[107],"detection,":[111],"innovatively":[113],"recognize":[116],"degraded":[117],"scenes":[118],"information.":[121],"We":[122],"have":[123],"conducted":[124],"large":[126],"number":[127],"experiments":[129],"KITTI":[131],"[1]":[132],"KITTI-360":[134],"[2]":[135],"dataset,":[136],"results":[139],"show":[140],"that":[141],"our":[142],"system":[143],"competitive":[150],"performance":[151],"in":[152],"comparison":[153],"state-of-the-art":[155],"methods.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
