{"id":"https://openalex.org/W4416748720","doi":"https://doi.org/10.1109/iros60139.2025.11247211","title":"SOLO-SMap: Semantic-Aided Online LiDAR Odometry and 3D Static Mapping for Dynamic Scenes","display_name":"SOLO-SMap: Semantic-Aided Online LiDAR Odometry and 3D Static Mapping for Dynamic Scenes","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748720","doi":"https://doi.org/10.1109/iros60139.2025.11247211"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247211","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":"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/A5102741923","display_name":"Ruyi Li","orcid":"https://orcid.org/0009-0009-7738-2610"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruyi Li","raw_affiliation_strings":["Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100622169","display_name":"Shiyong Zhang","orcid":"https://orcid.org/0000-0002-7255-9204"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyong Zhang","raw_affiliation_strings":["Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037573848","display_name":"Jing Yuan","orcid":"https://orcid.org/0000-0001-5495-684X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yuan","raw_affiliation_strings":["Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707542","display_name":"Youwei Wang","orcid":"https://orcid.org/0000-0002-3925-3422"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youwei Wang","raw_affiliation_strings":["Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University,Institute of Robotics and Automatic Information System, College of Artificial Intelligence,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7162","last_page":"7169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9800999760627747,"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":0.9800999760627747,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.003599999938160181,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10531","display_name":"Advanced Vision and Imaging","score":0.003100000089034438,"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/leverage","display_name":"Leverage (statistics)","score":0.6690000295639038},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.593500018119812},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5774000287055969},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5601999759674072},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5092999935150146},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.46470001339912415},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4415999948978424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4372999966144562},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4122999906539917}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8034999966621399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7573000192642212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7045999765396118},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6690000295639038},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.593500018119812},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5774000287055969},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5601999759674072},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5092999935150146},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.46470001339912415},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4415999948978424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4122999906539917},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3499999940395355},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.30550000071525574},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2865000069141388},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.27869999408721924},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247211","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2133844819","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2790141132","https://openalex.org/W2891104420","https://openalex.org/W2909908358","https://openalex.org/W2950989657","https://openalex.org/W2965737813","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3089607054","https://openalex.org/W3091155238","https://openalex.org/W3129245057","https://openalex.org/W3133309409","https://openalex.org/W3207941059","https://openalex.org/W4200355487","https://openalex.org/W4283773122","https://openalex.org/W4293094564","https://openalex.org/W4315778466","https://openalex.org/W4386075735","https://openalex.org/W4387448672","https://openalex.org/W4389692463","https://openalex.org/W4390636204","https://openalex.org/W4391769377","https://openalex.org/W4394744378","https://openalex.org/W4398226375","https://openalex.org/W4399995607","https://openalex.org/W4401414336"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"and":[1,6,27,29,41,68,108,140,159,163,174],"reliable":[2],"online":[3],"real-time":[4,66],"localization":[5,67],"mapping":[7],"are":[8],"crucial":[9],"for":[10],"autonomous":[11],"navigation":[12],"of":[13,25,135,151,176],"robot.":[14],"Dynamic":[15],"objects":[16],"within":[17,112],"the":[18,23,36,118,130,149,172,177],"perception":[19],"field":[20],"can":[21,46,183],"affect":[22],"accuracy":[24,139],"registration":[26],"localization,":[28],"also":[30],"introduce":[31],"ghost":[32],"trail":[33],"artifacts":[34],"in":[35,48,117,144,153],"map,":[37],"hindering":[38],"robot":[39],"planning":[40],"decision-making.":[42],"While":[43],"semantic":[44,81],"segmentation":[45],"assist":[47],"perceiving":[49],"object":[50],"categories,":[51],"it":[52],"struggles":[53],"to":[54,83,129],"accurately":[55],"segment":[56],"moving":[57,104],"objects.":[58],"In":[59],"this":[60],"paper,":[61],"we":[62],"present":[63],"SOLO-SMap,":[64],"a":[65,113,165],"static":[69,125,131],"map":[70],"construction":[71],"framework":[72],"based":[73,102],"solely":[74],"on":[75,103,156],"LiDAR":[76],"point":[77,105],"cloud.":[78],"We":[79,147],"leverage":[80],"inference":[82],"identify":[84],"potential":[85],"dynamic":[86,93,154],"points.":[87],"And":[88],"then,":[89],"our":[90,160],"instance-level":[91],"true":[92],"points":[94],"removal":[95],"is":[96],"achieved":[97],"by":[98],"utilizing":[99],"geometric":[100],"rules":[101],"occlusion":[106],"relationships":[107],"multi-object":[109],"tracking":[110],"(MOT)":[111],"nearby":[114],"temporal":[115],"window":[116],"pre-alignment":[119],"stage.":[120],"This":[121],"design":[122],"preserves":[123],"stable":[124],"constraints":[126],"while":[127],"adhering":[128],"world":[132],"model":[133],"assumption":[134],"SLAM":[136],"systems,":[137],"benefiting":[138],"reducing":[141],"drift,":[142],"particularly":[143],"busy":[145],"intersections.":[146],"evaluated":[148],"performance":[150],"SOLO-SMap":[152],"scenes":[155],"KITTI":[157],"datasets":[158],"self-made":[161],"datasets,":[162],"conducted":[164],"comprehensive":[166],"comparison":[167],"with":[168],"other":[169],"methods,":[170],"validating":[171],"effectiveness":[173],"robustness":[175],"proposed":[178],"method.":[179],"A":[180],"supplementary":[181],"video":[182],"be":[184],"accessed":[185],"at":[186],"https://www.youtube.com/watch?v=x-VKr3ag03M.":[187]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}