{"id":"https://openalex.org/W4416747977","doi":"https://doi.org/10.1109/iros60139.2025.11246943","title":"Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM","display_name":"Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747977","doi":"https://doi.org/10.1109/iros60139.2025.11246943"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101563004","display_name":"Neng Wang","orcid":"https://orcid.org/0009-0005-3620-347X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Neng Wang","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036075088","display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0002-6375-581X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346729","display_name":"Zhiqiang Zheng","orcid":"https://orcid.org/0000-0003-2656-6689"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zheng","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,China"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology and the National Key Laboratory of Equipment State Sensing and Smart Support,China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101563004"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":5.1063,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96138584,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1614","last_page":"1621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9887999892234802,"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":0.9887999892234802,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.0017000000225380063,"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":0.0013000000035390258,"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":0.7355999946594238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6672000288963318},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5321999788284302},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4912000000476837},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.43160000443458557},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.41519999504089355},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.41269999742507935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4090000092983246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7567999958992004},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7355999946594238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6672000288963318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5881999731063843},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5321999788284302},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5065000057220459},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.41519999504089355},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.41269999742507935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4090000092983246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3711000084877014},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3612000048160553},{"id":"https://openalex.org/C2777984123","wikidata":"https://www.wikidata.org/wiki/Q9248237","display_name":"Pointwise","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3237000107765198},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W2955544543","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3091337047","https://openalex.org/W3131623996","https://openalex.org/W3132982513","https://openalex.org/W3203066970","https://openalex.org/W3205251654","https://openalex.org/W3205534495","https://openalex.org/W3207826836","https://openalex.org/W4205574455","https://openalex.org/W4221141829","https://openalex.org/W4312275786","https://openalex.org/W4315778466","https://openalex.org/W4317796409","https://openalex.org/W4383108462","https://openalex.org/W4387042048","https://openalex.org/W4387092523","https://openalex.org/W4389667422","https://openalex.org/W4390873060","https://openalex.org/W4401414336","https://openalex.org/W4401414466","https://openalex.org/W4402716017","https://openalex.org/W4404238397","https://openalex.org/W4405787186","https://openalex.org/W4405811743","https://openalex.org/W4408780413","https://openalex.org/W4410226528"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"and":[1,5,48,62,90,120,138,149,162,169,182,185],"robust":[2,67,112],"simultaneous":[3],"localization":[4,35],"mapping":[6],"(SLAM)":[7],"is":[8],"crucial":[9],"for":[10,45],"autonomous":[11],"mobile":[12],"systems,":[13],"typically":[14],"achieved":[15],"by":[16],"leveraging":[17],"the":[18,22,87,141,179,186],"geometric":[19],"features":[20],"of":[21,109],"environment.":[23],"Incorporating":[24],"semantics":[25],"provides":[26],"a":[27,77,102,128],"richer":[28],"scene":[29],"representation":[30],"that":[31,105],"not":[32],"only":[33],"enhances":[34],"accuracy":[36],"in":[37,68,94,159],"SLAM":[38,55,80],"but":[39],"also":[40],"enables":[41,154],"advanced":[42],"cognitive":[43],"functionalities":[44,108],"downstream":[46],"navigation":[47],"planning":[49],"tasks.":[50],"Existing":[51],"pointwise":[52],"semantic":[53,78,98,121,166],"LiDAR":[54],"methods":[56],"often":[57],"suffer":[58],"from":[59],"poor":[60],"efficiency":[61],"generalization,":[63],"making":[64],"them":[65],"less":[66],"diverse":[69],"real-world":[70],"scenarios.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75],"propose":[76],"graph-enhanced":[79],"framework,":[81],"named":[82],"SG-SLAM,":[83],"which":[84],"effectively":[85],"leverages":[86],"geometric,":[88],"semantic,":[89],"topological":[91],"characteristics":[92],"inherent":[93],"environmental":[95],"structures.":[96],"The":[97],"graph":[99,122,147,167],"serves":[100],"as":[101],"fundamental":[103],"component":[104],"facilitates":[106],"critical":[107],"SLAM,":[110],"including":[111],"relocalization":[113],"during":[114],"odometry":[115,137],"failures,":[116],"accurate":[117],"loop":[118,144],"closing,":[119],"map":[123,150],"construction.":[124],"Our":[125,195],"method":[126,156,177,196],"employs":[127],"dual-threaded":[129],"architecture,":[130],"with":[131],"one":[132],"thread":[133],"dedicated":[134],"to":[135,157,192],"online":[136],"relocalization,":[139],"while":[140],"other":[142],"handles":[143],"closure,":[145],"pose":[146],"optimization,":[148],"update.":[151],"This":[152],"design":[153],"our":[155,176],"operate":[158],"real":[160],"time":[161],"generate":[163],"globally":[164],"consistent":[165],"maps":[168],"point":[170],"cloud":[171],"maps.":[172],"We":[173],"extensively":[174],"evaluate":[175],"across":[178],"KITTI,":[180],"MulRAN,":[181],"Apollo":[183],"datasets,":[184],"results":[187],"demonstrate":[188],"its":[189],"superiority":[190],"compared":[191],"state-of-the-art":[193],"methods.":[194],"has":[197],"been":[198],"released":[199],"at":[200],"https://github.com/nubot-nudt/SG-SLAM.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
