{"id":"https://openalex.org/W3199149066","doi":"https://doi.org/10.1109/lra.2022.3148465","title":"SO-SLAM: Semantic Object SLAM With Scale Proportional and Symmetrical Texture Constraints","display_name":"SO-SLAM: Semantic Object SLAM With Scale Proportional and Symmetrical Texture Constraints","publication_year":2022,"publication_date":"2022-02-07","ids":{"openalex":"https://openalex.org/W3199149066","doi":"https://doi.org/10.1109/lra.2022.3148465","mag":"3199149066"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3148465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148465","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5011612877","display_name":"Ziwei Liao","orcid":"https://orcid.org/0000-0002-4304-6020"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CA","CN"],"is_corresponding":true,"raw_author_name":"Ziwei Liao","raw_affiliation_strings":["Insitute for Aerospace Study (UTIAS), University of Toronto, Canada","Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4304-6020","affiliations":[{"raw_affiliation_string":"Insitute for Aerospace Study (UTIAS), University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056518878","display_name":"Yutong Hu","orcid":"https://orcid.org/0000-0002-6030-3113"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutong Hu","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6030-3113","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007797312","display_name":"Jiadong Zhang","orcid":"https://orcid.org/0000-0001-8947-5915"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiadong Zhang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049272137","display_name":"Xianyu Qi","orcid":"https://orcid.org/0000-0002-6636-374X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianyu Qi","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054774854","display_name":"Xiaoyu Zhang","orcid":"https://orcid.org/0000-0002-8674-3790"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Zhang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8674-3790","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100392067","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-7215-7627"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7215-7627","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5011612877"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":48.3615,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.99823712,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4008","last_page":"4015"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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":0.995199978351593,"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":0.7528860569000244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6900481581687927},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.671682596206665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6703341603279114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6666379570960999},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6268969178199768},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.550723671913147},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5386597514152527},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5195825099945068},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42965206503868103},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4244236350059509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4033917188644409},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2040877342224121}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7528860569000244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6900481581687927},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.671682596206665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6703341603279114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6666379570960999},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6268969178199768},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.550723671913147},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5386597514152527},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5195825099945068},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42965206503868103},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4244236350059509},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4033917188644409},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2040877342224121},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3148465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148465","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1995266040","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2058535340","https://openalex.org/W2097307110","https://openalex.org/W2097696373","https://openalex.org/W2461937780","https://openalex.org/W2566881119","https://openalex.org/W2610694266","https://openalex.org/W2739423245","https://openalex.org/W2779423082","https://openalex.org/W2886388988","https://openalex.org/W2887751724","https://openalex.org/W2890979597","https://openalex.org/W2938672559","https://openalex.org/W2963037989","https://openalex.org/W2964226622","https://openalex.org/W2967664003","https://openalex.org/W2968147691","https://openalex.org/W2991360464","https://openalex.org/W3015446194","https://openalex.org/W3083815714","https://openalex.org/W3098467253","https://openalex.org/W3124420883","https://openalex.org/W3193606944","https://openalex.org/W4248791659","https://openalex.org/W4250589301","https://openalex.org/W6754817429"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W3095877357","https://openalex.org/W183202219","https://openalex.org/W10861731","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Object":[0,52],"SLAM":[1,28,53],"introduces":[2],"the":[3,40,58,107,110,113,133],"concept":[4],"of":[5,60,109],"objects":[6],"into":[7],"Simultaneous":[8],"Localization":[9],"and":[10,13,21,43,77,98,116,122],"Mapping":[11],"(SLAM)":[12],"helps":[14],"understand":[15],"indoor":[16],"scenes":[17],"for":[18],"mobile":[19,119],"robots":[20],"object-level":[22],"interactive":[23],"applications.":[24],"The":[25],"state-of-art":[26],"object":[27,61,95],"systems":[29],"face":[30],"challenges":[31],"such":[32],"as":[33],"partial":[34],"observations,":[35],"occlusions,":[36],"unobservable":[37],"problems,":[38],"limiting":[39],"mapping":[41,128],"accuracy":[42],"robustness.":[44],"This":[45],"letter":[46],"proposes":[47],"a":[48,92,124],"novel":[49],"monocular":[50],"Semantic":[51],"(SO-SLAM)":[54],"system":[55],"that":[56],"addresses":[57],"introduction":[59],"spatial":[62,68],"constraints.":[63],"We":[64,104,130],"explore":[65],"three":[66],"representative":[67],"constraints,":[69,85],"including":[70],"scale":[71],"proportional":[72],"constraint,":[73],"symmetrical":[74],"texture":[75],"constraint":[76],"plane":[78],"supporting":[79],"constraint.":[80],"Based":[81],"on":[82,112,127],"these":[83],"semantic":[84],"we":[86],"propose":[87],"two":[88],"new":[89],"methods":[90],"-":[91],"more":[93],"robust":[94],"initialization":[96],"method":[97],"an":[99,117],"orientation":[100],"fine":[101],"optimization":[102],"method.":[103],"have":[105],"verified":[106],"performance":[108],"algorithm":[111],"public":[114],"datasets":[115],"author-recorded":[118],"robot":[120],"dataset":[121],"achieved":[123],"significant":[125],"improvement":[126],"effects.":[129],"will":[131],"release":[132],"code":[134],"here.":[135],"<sup":[136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[138]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":6}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}