{"id":"https://openalex.org/W7116293770","doi":"https://doi.org/10.1109/jiot.2025.3646303","title":"DBSV-SLAM: A Robust Loop Detection Method for Multirobot Visual SLAM Based on Bimodal Semantic Verification","display_name":"DBSV-SLAM: A Robust Loop Detection Method for Multirobot Visual SLAM Based on Bimodal Semantic Verification","publication_year":2025,"publication_date":"2025-12-19","ids":{"openalex":"https://openalex.org/W7116293770","doi":"https://doi.org/10.1109/jiot.2025.3646303"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3646303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3646303","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5120946405","display_name":"Shuai Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Jiangsu University of Science and Technology"],"raw_orcid":"https://orcid.org/0009-0008-0325-6016","affiliations":[{"raw_affiliation_string":"Jiangsu University of Science and Technology","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fei Zhang","orcid":"https://orcid.org/0000-0002-4488-8692"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Zhang","raw_affiliation_strings":["Jiangsu University of Science and Technology"],"raw_orcid":"https://orcid.org/0000-0002-4488-8692","affiliations":[{"raw_affiliation_string":"Jiangsu University of Science and Technology","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ying Hu","orcid":"https://orcid.org/0009-0009-6150-2155"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Jiangsu University of Science and Technology"],"raw_orcid":"https://orcid.org/0009-0009-6150-2155","affiliations":[{"raw_affiliation_string":"Jiangsu University of Science and Technology","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120934270","display_name":"Jiacheng Fei","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiacheng Fei","raw_affiliation_strings":["Jiangsu University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu University of Science and Technology","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100741520","display_name":"Jin Wang","orcid":"https://orcid.org/0000-0002-1467-2065"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhui Wang","raw_affiliation_strings":["Jiangsu University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu University of Science and Technology","institution_ids":["https://openalex.org/I4210096899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210096899"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6683454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"6","first_page":"11669","last_page":"11690"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9890000224113464,"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":0.9890000224113464,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0019000000320374966,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.001500000013038516,"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/robustness","display_name":"Robustness (evolution)","score":0.7886999845504761},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.614300012588501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6040999889373779},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.46959999203681946},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4677000045776367},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4318000078201294},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4284999966621399},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.42829999327659607},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.3790999948978424},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.36899998784065247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8101999759674072},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7886999845504761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6474999785423279},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.614300012588501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6040999889373779},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5099999904632568},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.46959999203681946},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4677000045776367},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4318000078201294},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.42829999327659607},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3790999948978424},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3686000108718872},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.3382999897003174},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3066999912261963},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.29649999737739563},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C2778493491","wikidata":"https://www.wikidata.org/wiki/Q7449072","display_name":"Semantic matching","level":3,"score":0.287200003862381},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28189998865127563},{"id":"https://openalex.org/C138236772","wikidata":"https://www.wikidata.org/wiki/Q25098575","display_name":"Edge device","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.26100000739097595},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25760000944137573},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3646303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3646303","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G255031796","display_name":null,"funder_award_id":"62271192","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1976905874","https://openalex.org/W2011897632","https://openalex.org/W2033819227","https://openalex.org/W2109271936","https://openalex.org/W2803770871","https://openalex.org/W2891820683","https://openalex.org/W2906636743","https://openalex.org/W2966360915","https://openalex.org/W2976722701","https://openalex.org/W3004418007","https://openalex.org/W3012268014","https://openalex.org/W3044524345","https://openalex.org/W3204117507","https://openalex.org/W4200225532","https://openalex.org/W4205616157","https://openalex.org/W4226481925","https://openalex.org/W4312828715","https://openalex.org/W4321021076","https://openalex.org/W4378189414","https://openalex.org/W4378574793","https://openalex.org/W4388755261","https://openalex.org/W4389607811","https://openalex.org/W4403828990"],"related_works":[],"abstract_inverted_index":{"In":[0],"large-scale":[1,118],"complex":[2],"scenes,":[3],"multi-robot":[4,101,125],"collaborative":[5,126],"simultaneous":[6],"localization":[7],"and":[8,24,38,96,112,117],"mapping":[9],"(SLAM)":[10],"technology":[11],"has":[12],"shown":[13],"significant":[14],"efficiency":[15,113],"advantages.":[16],"However,":[17],"due":[18],"to":[19],"the":[20,27,88,93,98],"differences":[21],"in":[22],"sensors":[23],"dynamic":[25],"environments,":[26],"local":[28,70],"maps":[29],"independently":[30],"constructed":[31],"by":[32,60,74],"each":[33],"robot":[34],"are":[35],"significantly":[36],"different,":[37],"map":[39],"fusion":[40],"faces":[41],"challenges.":[42],"This":[43],"paper":[44],"proposes":[45],"a":[46,62,69,78],"Deep":[47],"Bimodal":[48],"Semantic":[49],"Verification":[50],"(DBSV)":[51],"-":[52],"SLAM":[53],"method,":[54],"which":[55],"obtains":[56],"multimodal":[57],"scene":[58],"descriptors":[59],"constructing":[61],"multi-task":[63],"deep":[64],"semantic":[65],"enhancement":[66],"network,":[67],"introduces":[68],"matching":[71],"mechanism":[72],"guided":[73],"cross-robot":[75],"semantics,":[76],"designs":[77],"loop":[79,102],"optimization":[80],"strategy":[81],"based":[82],"on":[83,114],"edge":[84],"consistency":[85],"evaluation,":[86],"constructs":[87],"maximum":[89],"independent":[90],"subgraph":[91],"of":[92,100],"conflict":[94],"graph,":[95],"improves":[97],"robustness":[99],"detection.":[103],"Experiments":[104],"show":[105],"that":[106],"this":[107],"method":[108],"shows":[109],"excellent":[110],"accuracy":[111],"small,":[115],"medium,":[116],"datasets,":[119],"providing":[120],"an":[121],"effective":[122],"solution":[123],"for":[124],"SLAM.":[127]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-12-21T00:00:00"}
