{"id":"https://openalex.org/W4404370921","doi":"https://doi.org/10.1109/lra.2024.3498781","title":"USD-SLAM: A Universal Visual SLAM Based on Large Segmentation Model in Dynamic Environments","display_name":"USD-SLAM: A Universal Visual SLAM Based on Large Segmentation Model in Dynamic Environments","publication_year":2024,"publication_date":"2024-11-14","ids":{"openalex":"https://openalex.org/W4404370921","doi":"https://doi.org/10.1109/lra.2024.3498781"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3498781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3498781","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/A5048263969","display_name":"Jingwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingwei Wang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101184368","display_name":"Ye Ren","orcid":"https://orcid.org/0000-0001-7424-206X"},"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":"Yizhang Ren","raw_affiliation_strings":["College of Instrumental Science and Optoelectronic Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumental Science and Optoelectronic Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409062","display_name":"Zhiwei Li","orcid":"https://orcid.org/0000-0001-7071-199X"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Li","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114948798","display_name":"Xiaoming Xie","orcid":"https://orcid.org/0009-0002-5992-4630"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Xie","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006790291","display_name":"Zilong Chen","orcid":"https://orcid.org/0000-0002-0400-9470"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zilong Chen","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029149757","display_name":"Tianyu Shen","orcid":"https://orcid.org/0000-0001-7614-7015"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Shen","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029944675","display_name":"Kunfeng Wang","orcid":"https://orcid.org/0000-0003-2744-1191"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunfeng Wang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5048263969"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":14.2954,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98494952,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"9","issue":"12","first_page":"11810","last_page":"11817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9934999942779541,"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":0.9839000105857849,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6943759322166443},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6886804699897766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6672173142433167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6080523729324341},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5035144686698914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0957549512386322},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.05819392204284668}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6943759322166443},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6886804699897766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6672173142433167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6080523729324341},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5035144686698914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0957549512386322},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.05819392204284668}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3498781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3498781","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":[],"awards":[{"id":"https://openalex.org/G1003077060","display_name":null,"funder_award_id":"U22A2061","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4342491474","display_name":null,"funder_award_id":"62302047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7960372286","display_name":null,"funder_award_id":"HMHAI-202416","funder_id":"https://openalex.org/F4320321169","funder_display_name":"Xi\u2019an Jiaotong University"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321169","display_name":"Xi\u2019an Jiaotong University","ror":"https://ror.org/017zhmm22"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2150066425","https://openalex.org/W2535547924","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2954061742","https://openalex.org/W2963764717","https://openalex.org/W3003179103","https://openalex.org/W3043971245","https://openalex.org/W3089905794","https://openalex.org/W3091687063","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3136926086","https://openalex.org/W3146082954","https://openalex.org/W3176027594","https://openalex.org/W3198433177","https://openalex.org/W3206096534","https://openalex.org/W4225747367","https://openalex.org/W4304943539","https://openalex.org/W4312290933","https://openalex.org/W4386075787","https://openalex.org/W4386824802","https://openalex.org/W4386902868","https://openalex.org/W4389332139","https://openalex.org/W4390421916","https://openalex.org/W4390873795","https://openalex.org/W4390874575","https://openalex.org/W4405022604"],"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":{"Visual":[0],"Simultaneous":[1],"Localization":[2],"and":[3,13,124,128,144],"Mapping":[4],"(SLAM)":[5],"has":[6],"been":[7],"widely":[8],"adopted":[9],"in":[10,21,30,73,141],"autonomous":[11],"driving":[12],"robotics.":[14],"While":[15],"most":[16],"SLAM":[17,48,159],"systems":[18],"operate":[19,140],"effectively":[20],"static":[22,145],"or":[23],"low-dynamic":[24],"environments,":[25],"achieving":[26],"precise":[27,86],"pose":[28,37,130],"estimation":[29],"diverse":[31],"unknown":[32],"dynamic":[33,70,143,158],"environments":[34,146],"continues":[35],"to":[36,66,88,107,155],"a":[38,53,59,80],"significant":[39],"challenge.":[40],"This":[41],"letter":[42],"introduces":[43],"an":[44],"advanced":[45,157],"universal":[46,54],"visual":[47],"system":[49,77],"(USD-SLAM)":[50],"that":[51,135],"combines":[52],"large":[55,81],"segmentation":[56,82],"model":[57,83],"with":[58],"3D":[60,100],"spatial":[61,101],"motion":[62,102],"state":[63,103],"constraint":[64],"module":[65],"accurately":[67],"handle":[68],"any":[69],"objects":[71],"present":[72],"the":[74,95,109,114],"environment.":[75],"Our":[76],"first":[78],"employs":[79],"guided":[84],"by":[85],"prompts":[87],"identify":[89],"movable":[90,97],"regions":[91,117],"accurately.":[92],"Based":[93],"on":[94],"identified":[96],"object":[98,111,116],"regions,":[99],"constraints":[104],"are":[105,118],"exploited":[106],"remove":[108],"moving":[110,115],"regions.":[112],"Finally,":[113],"excluded":[119],"for":[120],"subsequent":[121],"tracking,":[122],"localization,":[123],"mapping,":[125],"ensuring":[126],"stable":[127],"high-precision":[129],"estimation.":[131],"Experimental":[132],"results":[133],"demonstrate":[134],"our":[136],"method":[137],"can":[138],"robustly":[139],"various":[142],"without":[147],"additional":[148],"training,":[149],"providing":[150],"higher":[151],"localization":[152],"accuracy":[153],"compared":[154],"other":[156],"systems.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
