{"id":"https://openalex.org/W4391695394","doi":"https://doi.org/10.1109/sii58957.2024.10417379","title":"S3M: Semantic Segmentation Sparse Mapping for UAVs with RGB-D Camera","display_name":"S3M: Semantic Segmentation Sparse Mapping for UAVs with RGB-D Camera","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391695394","doi":"https://doi.org/10.1109/sii58957.2024.10417379"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417379","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii58957.2024.10417379","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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/A5066768815","display_name":"Thanh Nguyen Canh","orcid":"https://orcid.org/0000-0001-6332-1002"},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]},{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP","VN"],"is_corresponding":false,"raw_author_name":"Thanh Nguyen Canh","raw_affiliation_strings":["University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam","School of Information Science, Japan Advanced Institute of Science and Technology Nomi, Ishikawa, Japan","University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam","institution_ids":["https://openalex.org/I177233841"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052113946","display_name":"Van\u2010Truong Nguyen","orcid":"https://orcid.org/0000-0001-6464-2115"},"institutions":[{"id":"https://openalex.org/I45756140","display_name":"Hanoi University of Industry","ror":"https://ror.org/05hhz4s12","country_code":"VN","type":"education","lineage":["https://openalex.org/I45756140"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Van-Truong Nguyen","raw_affiliation_strings":["Hanoi University of Industry,Department of Mechatronics Engineering,Hanoi,Vietnam,159999"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanoi University of Industry,Department of Mechatronics Engineering,Hanoi,Vietnam,159999","institution_ids":["https://openalex.org/I45756140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022703513","display_name":"Xiem HoangVan","orcid":"https://orcid.org/0000-0002-7524-6529"},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Xiem HoangVan","raw_affiliation_strings":["University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam","University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University,Hanoi,Vietnam","institution_ids":["https://openalex.org/I177233841"]},{"raw_affiliation_string":"University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004592091","display_name":"Arma\u011fan Elibol","orcid":"https://orcid.org/0000-0003-0661-9536"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Armagan Elibol","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology Nomi,Ishikawa,Japan,923\u20131292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology Nomi,Ishikawa,Japan,923\u20131292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000452220","display_name":"Nak Young Chong","orcid":"https://orcid.org/0000-0001-5736-0769"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nak Young Chong","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology Nomi,Ishikawa,Japan,923\u20131292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology Nomi,Ishikawa,Japan,923\u20131292","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.103,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.98922589,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"899","last_page":"905"},"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":0.9977999925613403,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.823291540145874},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6645286083221436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6192601323127747},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5956347584724426},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.586127519607544},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5553702116012573},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5468326807022095},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4977893829345703},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.49645525217056274},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4901662766933441},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4137656092643738},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41308704018592834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19829317927360535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09452134370803833}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.823291540145874},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6645286083221436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6192601323127747},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5956347584724426},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.586127519607544},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5553702116012573},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5468326807022095},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4977893829345703},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.49645525217056274},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4901662766933441},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4137656092643738},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41308704018592834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19829317927360535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09452134370803833},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii58957.2024.10417379","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii58957.2024.10417379","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8286031488","display_name":null,"funder_award_id":"FA2386-22-1-4042","funder_id":"https://openalex.org/F4320318019","funder_display_name":"Asian Office of Aerospace Research and Development"}],"funders":[{"id":"https://openalex.org/F4320318019","display_name":"Asian Office of Aerospace Research and Development","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1923184257","https://openalex.org/W1970504153","https://openalex.org/W2073660060","https://openalex.org/W2099940712","https://openalex.org/W2133844819","https://openalex.org/W2151290401","https://openalex.org/W2171943915","https://openalex.org/W2474281075","https://openalex.org/W2523049145","https://openalex.org/W2557406251","https://openalex.org/W2560023338","https://openalex.org/W2670684868","https://openalex.org/W2895745202","https://openalex.org/W2950989657","https://openalex.org/W2963881378","https://openalex.org/W2964226622","https://openalex.org/W3010616503","https://openalex.org/W3043971245","https://openalex.org/W3094063369","https://openalex.org/W3104842437","https://openalex.org/W3106487434","https://openalex.org/W3128498749"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4387967917","https://openalex.org/W4387968151","https://openalex.org/W28570768","https://openalex.org/W4386925306","https://openalex.org/W3132124459","https://openalex.org/W2946083937","https://openalex.org/W4312231542","https://openalex.org/W4390828597"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"hold":[4],"immense":[5],"potential":[6],"for":[7,187],"critical":[8],"applications,":[9],"such":[10],"as":[11],"search":[12],"and":[13,32,49,65,82,95,135,151,162,176],"rescue":[14],"operations,":[15],"where":[16],"accurate":[17],"perception":[18],"of":[19,28,43,98,127,172],"indoor":[20,154],"environments":[21],"is":[22,120],"paramount.":[23],"However,":[24],"the":[25,41,88,93,99,117,124,131,136,146,170],"concurrent":[26],"amalgamation":[27],"localization,":[29],"3D":[30,106],"reconstruction,":[31],"semantic":[33,62,125,141],"segmentation":[34,85],"presents":[35,54],"a":[36,55,78,103,113,182],"notable":[37],"hurdle,":[38],"especially":[39],"in":[40,61,158],"context":[42],"UAVs":[44],"equipped":[45],"with":[46],"constrained":[47],"power":[48],"computational":[50,94],"resources.":[51],"This":[52],"paper":[53],"novel":[56],"approach":[57,180],"to":[58,76,111,122,149],"address":[59],"challenges":[60,157],"information":[63,126],"extraction":[64],"utilization":[66],"within":[67],"UAV":[68],"operations.":[69],"Our":[70],"system":[71,175],"integrates":[72],"state-of-the-art":[73],"visual":[74],"SLAM":[75,133],"estimate":[77],"comprehensive":[79],"6-DoF":[80],"pose":[81,159],"advanced":[83],"object":[84],"methods":[86],"at":[87],"back":[89],"end.":[90],"To":[91],"improve":[92],"storage":[96],"efficiency":[97],"framework,":[100],"we":[101,168],"adopt":[102],"streamlined":[104],"voxel-based":[105],"map":[107],"representation":[108],"-":[109],"OctoMap":[110],"build":[112],"working":[114],"system.":[115],"Furthermore,":[116],"fusion":[118],"algorithm":[119],"incorporated":[121],"obtain":[123],"each":[128],"frame":[129],"from":[130],"front-end":[132],"task,":[134],"corresponding":[137],"point.":[138],"By":[139],"leveraging":[140],"information,":[142],"our":[143,173,179],"framework":[144],"enhances":[145],"UAV's":[147],"ability":[148],"perceive":[150],"navigate":[152],"through":[153],"spaces,":[155],"addressing":[156],"estimation":[160],"accuracy":[161],"uncertainty":[163],"reduction.":[164],"Through":[165],"Gazebo":[166],"simulations,":[167],"validate":[169],"efficacy":[171],"proposed":[174],"successfully":[177],"embed":[178],"into":[181],"Jetson":[183],"Xavier":[184],"AGX":[185],"unit":[186],"real-world":[188],"applications.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}