{"id":"https://openalex.org/W4413018686","doi":"https://doi.org/10.1109/iv64158.2025.11097393","title":"Semantic SLAM with Rolling-Shutter Cameras and Low-Precision INS in Outdoor Environments","display_name":"Semantic SLAM with Rolling-Shutter Cameras and Low-Precision INS in Outdoor Environments","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413018686","doi":"https://doi.org/10.1109/iv64158.2025.11097393"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","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/A5101454511","display_name":"Yuchen Zhang","orcid":"https://orcid.org/0000-0001-8944-5230"},"institutions":[{"id":"https://openalex.org/I3130687028","display_name":"United States Department of the Navy","ror":"https://ror.org/03ar0mv07","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuchen Zhang","raw_affiliation_strings":["NavInfo Co. Ltd.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NavInfo Co. Ltd.,China","institution_ids":["https://openalex.org/I3130687028"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008579188","display_name":"Miao Fan","orcid":"https://orcid.org/0009-0002-1227-5311"},"institutions":[{"id":"https://openalex.org/I3130687028","display_name":"United States Department of the Navy","ror":"https://ror.org/03ar0mv07","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miao Fan","raw_affiliation_strings":["NavInfo Co. Ltd.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NavInfo Co. Ltd.,China","institution_ids":["https://openalex.org/I3130687028"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103141105","display_name":"Yi Jiao","orcid":"https://orcid.org/0000-0001-5002-755X"},"institutions":[{"id":"https://openalex.org/I3130687028","display_name":"United States Department of the Navy","ror":"https://ror.org/03ar0mv07","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi Jiao","raw_affiliation_strings":["NavInfo Co. Ltd.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NavInfo Co. Ltd.,China","institution_ids":["https://openalex.org/I3130687028"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073381125","display_name":"Sugang Xu","orcid":"https://orcid.org/0000-0002-0937-0097"},"institutions":[{"id":"https://openalex.org/I1286353243","display_name":"Autodesk (United States)","ror":"https://ror.org/00pkt4594","country_code":"US","type":"company","lineage":["https://openalex.org/I1286353243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shengtong Xu","raw_affiliation_strings":["Autohome Inc.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autohome Inc.,China","institution_ids":["https://openalex.org/I1286353243"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091183588","display_name":"Xiangzeng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangzeng Liu","raw_affiliation_strings":["Xidian University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xidian University,China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081254155","display_name":"Haoyi Xiong","orcid":"https://orcid.org/0000-0002-5451-3253"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyi Xiong","raw_affiliation_strings":["Baidu Inc.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Inc.,China","institution_ids":["https://openalex.org/I98301712"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"440","last_page":"446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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":0.9977999925613403,"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/T13382","display_name":"Robotics and Automated Systems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9847000241279602,"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-vision","display_name":"Computer vision","score":0.6888282895088196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6739215850830078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6632833480834961},{"id":"https://openalex.org/keywords/shutter","display_name":"Shutter","score":0.6164842844009399},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5438956618309021},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3305108845233917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2453460991382599},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.184955894947052},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14882218837738037},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06190544366836548}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6888282895088196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6739215850830078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6632833480834961},{"id":"https://openalex.org/C2776871301","wikidata":"https://www.wikidata.org/wiki/Q691823","display_name":"Shutter","level":2,"score":0.6164842844009399},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5438956618309021},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3305108845233917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2453460991382599},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.184955894947052},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14882218837738037},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06190544366836548}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1384439451","display_name":null,"funder_award_id":"202423k09020034","funder_id":"https://openalex.org/F4320316314","funder_display_name":"Key Technologies Research and Development Program of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320316314","display_name":"Key Technologies Research and Development Program of Anhui Province","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2011632936","https://openalex.org/W2124386111","https://openalex.org/W2535547924","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2989135423","https://openalex.org/W3043971245","https://openalex.org/W3118680773","https://openalex.org/W3148176530","https://openalex.org/W3216915570","https://openalex.org/W4200301466","https://openalex.org/W4205725812","https://openalex.org/W4211154833","https://openalex.org/W4281642191","https://openalex.org/W4303981287","https://openalex.org/W4306317835","https://openalex.org/W4310626783","https://openalex.org/W4386076267","https://openalex.org/W4390481663","https://openalex.org/W4396233608","https://openalex.org/W4403770406"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Accurate":[0],"localization":[1,45,173],"and":[2,17,40,64,88,111,128,152,183],"mapping":[3],"in":[4,116,137],"outdoor":[5],"environments":[6,140],"remains":[7],"challenging":[8],"when":[9],"using":[10,174],"consumer-grade":[11,181],"hardware,":[12,176],"particularly":[13,158],"with":[14,54],"rolling-shutter":[15,62,76],"cameras":[16],"low-precision":[18],"inertial":[19],"navigation":[20],"systems":[21],"(INS).":[22],"We":[23],"present":[24],"a":[25,55,68,75,168],"novel":[26],"semantic":[27,51,117],"SLAM":[28],"approach":[29,166],"that":[30,72],"leverages":[31],"road":[32,41],"elements":[33],"such":[34],"as":[35],"lane":[36],"boundaries,":[37],"traffic":[38,154],"signs,":[39],"markings":[42],"to":[43,100,109,114],"enhance":[44],"accuracy.":[46],"Our":[47],"system":[48,147],"integrates":[49],"real-time":[50],"feature":[52],"detection":[53,119],"graph":[56],"optimization":[57],"framework,":[58],"effectively":[59],"handling":[60],"both":[61],"effects":[63],"INS":[65],"drift.":[66],"Using":[67],"practical":[69,169],"hardware":[70],"setup":[71],"consists":[73],"of":[74,145],"camera":[77],"<tex":[78],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[79],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$(\\mathbf{3840}":[80],"\\times":[81],"\\mathbf{2160}":[82],"{@}":[83],"\\mathbf{30}":[84],"\\mathbf{fps})$</tex>,":[85],"IMU":[86],"(100Hz),":[87],"wheel":[89],"encoder":[90],"(50Hz),":[91],"we":[92],"demonstrate":[93,141],"significant":[94],"improvements":[95],"over":[96],"existing":[97],"methods.":[98],"Compared":[99],"state-of-the-art":[101],"approaches,":[102],"our":[103,146],"method":[104],"achieves":[105],"higher":[106],"recall":[107],"(up":[108,113],"5.35%)":[110],"precision":[112],"2.79%)":[115],"element":[118],"while":[120],"maintaining":[121],"mean":[122,129],"relative":[123],"error":[124,131],"(MRE)":[125],"within":[126],"10cm":[127],"absolute":[130],"(MAE)":[132],"around":[133],"1m.":[134],"Extensive":[135],"experiments":[136],"diverse":[138],"urban":[139],"the":[142,178],"robust":[143],"performance":[144,185],"under":[148],"varying":[149],"lighting":[150],"conditions":[151],"complex":[153],"scenarios,":[155],"making":[156],"it":[157],"suitable":[159],"for":[160,171],"autonomous":[161],"driving":[162],"applications.":[163],"The":[164],"proposed":[165],"provides":[167],"solution":[170],"high-precision":[172],"affordable":[175],"bridging":[177],"gap":[179],"between":[180],"sensors":[182],"production-level":[184],"requirements.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}