{"id":"https://openalex.org/W4404577139","doi":"https://doi.org/10.1109/mm.2024.3503414","title":"A Mobile Semantic Lidar SLAM Processor With Artificial-Intelligence-Based 3-D Perception and Spatiotemporal-Aware Computing","display_name":"A Mobile Semantic Lidar SLAM Processor With Artificial-Intelligence-Based 3-D Perception and Spatiotemporal-Aware Computing","publication_year":2024,"publication_date":"2024-11-21","ids":{"openalex":"https://openalex.org/W4404577139","doi":"https://doi.org/10.1109/mm.2024.3503414"},"language":"en","primary_location":{"id":"doi:10.1109/mm.2024.3503414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mm.2024.3503414","pdf_url":null,"source":{"id":"https://openalex.org/S59697426","display_name":"IEEE Micro","issn_l":"0272-1732","issn":["0272-1732","1937-4143"],"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 Micro","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/A5047868341","display_name":"Jueun Jung","orcid":"https://orcid.org/0000-0003-1632-159X"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jueun Jung","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-1632-159X","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051795763","display_name":"Seungbin Kim","orcid":"https://orcid.org/0000-0002-6826-3793"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungbin Kim","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6826-3793","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093678377","display_name":"Bokyoung Seo","orcid":"https://orcid.org/0009-0000-6255-6299"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bokyoung Seo","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0009-0000-6255-6299","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009555181","display_name":"Wuyoung Jang","orcid":"https://orcid.org/0009-0000-2088-6775"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wuyoung Jang","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0009-0000-2088-6775","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103801993","display_name":"Sang-Ho Lee","orcid":"https://orcid.org/0009-0002-0665-5027"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangho Lee","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0009-0002-0665-5027","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jeongmin Shin","orcid":"https://orcid.org/0009-0002-8049-3708"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongmin Shin","raw_affiliation_strings":["Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0009-0002-8049-3708","affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039062148","display_name":"Donghyeon Han","orcid":"https://orcid.org/0000-0002-5212-2072"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyeon Han","raw_affiliation_strings":["Chung-ang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5212-2072","affiliations":[{"raw_affiliation_string":"Chung-ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101638097","display_name":"Kyuho Lee","orcid":"https://orcid.org/0000-0002-4047-1013"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyuho Jason Lee","raw_affiliation_strings":["Department of Electrical Engineering and the Graduate School of AI, Ulsan National Institute of Science and Technology, Ulsan, South Korea","Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4047-1013","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and the Graduate School of AI, Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]},{"raw_affiliation_string":"Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5047868341"],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":1.346,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88901558,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"45","issue":"2","first_page":"67","last_page":"77"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9901000261306763,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9847999811172485,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8730878829956055},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.633051872253418},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5473525524139404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49601587653160095},{"id":"https://openalex.org/keywords/mobile-computing","display_name":"Mobile computing","score":0.44129371643066406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4280993938446045},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.42724665999412537},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4011298418045044},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.1590229570865631},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14693963527679443},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11547398567199707}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8730878829956055},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.633051872253418},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5473525524139404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49601587653160095},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.44129371643066406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4280993938446045},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.42724665999412537},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4011298418045044},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.1590229570865631},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14693963527679443},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11547398567199707},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mm.2024.3503414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mm.2024.3503414","pdf_url":null,"source":{"id":"https://openalex.org/S59697426","display_name":"IEEE Micro","issn_l":"0272-1732","issn":["0272-1732","1937-4143"],"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 Micro","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5428493538","display_name":null,"funder_award_id":"RS-2023-00212222","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8081309835","display_name":null,"funder_award_id":"RS-2024-00399817","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2890660991","https://openalex.org/W2909908358","https://openalex.org/W2922127512","https://openalex.org/W2950989657","https://openalex.org/W3003991701","https://openalex.org/W3162787701","https://openalex.org/W3184856857","https://openalex.org/W4286571907","https://openalex.org/W4397000105","https://openalex.org/W6739778489"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2011442434","https://openalex.org/W2048100608","https://openalex.org/W2090296580","https://openalex.org/W1576249345","https://openalex.org/W4243905374","https://openalex.org/W2785815065","https://openalex.org/W1796074903"],"abstract_inverted_index":{"A":[0],"low-power":[1],"artificial":[2],"intelligence":[3],"(AI)-based":[4],"semantic":[5,143],"lidar":[6,32,94,144],"simultaneous":[7],"localization":[8],"and":[9,63,78,111,116,133],"mapping":[10],"(SLAM)":[11],"processor":[12,49,126],"is":[13,50],"proposed":[14,48,104],"to":[15,34,39,67,96,153],"expand":[16],"autonomous":[17],"driving":[18],"into":[19],"emerging":[20],"mobile":[21],"robots.":[22],"It":[23,81],"combines":[24],"point":[25],"neural":[26],"network":[27],"(PNN)-based":[28],"3-D":[29],"segmentation":[30],"with":[31,52,85,121,147],"SLAM":[33,145],"minimize":[35],"pose":[36],"errors":[37],"due":[38],"the":[40,91,103,125],"lack":[41],"of":[42,93,130,137],"perception":[43],"in":[44,114],"previous":[45],"SLAM.":[46],"The":[47],"designed":[51],"a":[53,134],"heterogeneous":[54],"multicore":[55],"architecture":[56],"that":[57],"utilizes":[58],"single":[59],"instruction,":[60],"multiple":[61],"data":[62,95],"reconfigurable":[64],"processing":[65],"elements":[66],"fully":[68],"support":[69],"its":[70],"three":[71],"main":[72],"operations:":[73],"k-nearest":[74],"neighbor":[75],"(KNN),":[76],"PNN,":[77],"nonlinear":[79],"optimization.":[80],"accelerates":[82],"KNN":[83,115],"operations":[84],"spherical":[86],"bin":[87],"partitioning":[88],"optimized":[89],"for":[90],"distribution":[92],"eliminate":[97],"unnecessary":[98],"search":[99],"spaces.":[100],"In":[101],"addition,":[102],"spatiotemporal-aware":[105],"computing":[106],"minimizes":[107],"excessive":[108],"memory":[109],"overhead":[110],"workload":[112],"imbalance":[113],"PNN":[117],"operations.":[118],"Consequently,":[119],"fabricated":[120],"28-nm":[122],"CMOS":[123],"technology,":[124],"achieves":[127],"8.245":[128],"mJ/frame":[129],"energy":[131],"consumption":[132,151],"maximum":[135],"performance":[136],"20.7-ms":[138],"latency,":[139],"successfully":[140],"demonstrating":[141],"real-time":[142],"system":[146],"99.86%":[148],"lower":[149],"power":[150],"compared":[152],"modern":[154],"CPU+GPU":[155],"platforms.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2024-11-22T00:00:00"}