{"id":"https://openalex.org/W4399154295","doi":"https://doi.org/10.1109/tits.2024.3402241","title":"RSO-SLAM: A Robust Semantic Visual SLAM With Optical Flow in Complex Dynamic Environments","display_name":"RSO-SLAM: A Robust Semantic Visual SLAM With Optical Flow in Complex Dynamic Environments","publication_year":2024,"publication_date":"2024-05-30","ids":{"openalex":"https://openalex.org/W4399154295","doi":"https://doi.org/10.1109/tits.2024.3402241"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3402241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3402241","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","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/A5092068737","display_name":"Liang Qin","orcid":"https://orcid.org/0009-0006-9297-0187"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Qin","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0006-9297-0187","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044606174","display_name":"Chang Wu","orcid":"https://orcid.org/0000-0003-2349-2549"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wu","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-2349-2549","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108322342","display_name":"Zhenyu Chen","orcid":"https://orcid.org/0009-0005-7801-2348"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Chen","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0005-7801-2348","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091303936","display_name":"Xiaotong Kong","orcid":"https://orcid.org/0000-0002-3540-6233"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotong Kong","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-3540-6233","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048869999","display_name":"Zejie Lv","orcid":"https://orcid.org/0000-0002-9051-216X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zejie Lv","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-9051-216X","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102719042","display_name":"Zhiqi Zhao","orcid":"https://orcid.org/0000-0003-4440-1511"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqi Zhao","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-4440-1511","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":48.3082,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.9983447,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"25","issue":"10","first_page":"14669","last_page":"14684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9965999722480774,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9873999953269958,"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/optical-flow","display_name":"Optical flow","score":0.7032122015953064},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6402886509895325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5542324781417847},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5495431423187256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49034667015075684},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.4860413670539856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2509504556655884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15158534049987793},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1447431743144989},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12465274333953857},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.06761336326599121}],"concepts":[{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7032122015953064},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6402886509895325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5542324781417847},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5495431423187256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49034667015075684},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4860413670539856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2509504556655884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15158534049987793},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1447431743144989},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12465274333953857},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.06761336326599121}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3402241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3402241","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2021851106","https://openalex.org/W2115579991","https://openalex.org/W2474281075","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2735010494","https://openalex.org/W2745859992","https://openalex.org/W2802671577","https://openalex.org/W2808571300","https://openalex.org/W2884608476","https://openalex.org/W2890213701","https://openalex.org/W2950989657","https://openalex.org/W2962747122","https://openalex.org/W2963150697","https://openalex.org/W2963562098","https://openalex.org/W2963881378","https://openalex.org/W3003179103","https://openalex.org/W3007471652","https://openalex.org/W3013130767","https://openalex.org/W3028228043","https://openalex.org/W3044149300","https://openalex.org/W3090298435","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106458387","https://openalex.org/W3120651375","https://openalex.org/W3132012367","https://openalex.org/W3187115527","https://openalex.org/W3206096534","https://openalex.org/W4210938782","https://openalex.org/W4210951069","https://openalex.org/W4309720124","https://openalex.org/W4312606688","https://openalex.org/W4382118807","https://openalex.org/W4386864869","https://openalex.org/W4386957742","https://openalex.org/W4392093365","https://openalex.org/W6682346614","https://openalex.org/W6778471983"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":[3,10,28,43,68,104,124,126,135,144,183,219,225,233,240],"Mapping":[4],"(VSLAM)":[5],"has":[6,39],"undergone":[7],"gradual":[8],"development":[9],"found":[11],"widespread":[12],"application.":[13],"However,":[14],"existing":[15,194],"VSLAM":[16],"systems":[17],"predominantly":[18,81],"rely":[19],"on":[20],"static":[21],"environment":[22],"assumptions,":[23],"leading":[24],"to":[25,46,114,177],"diminished":[26],"robustness":[27,239],"localization":[29,242],"accuracy":[30],"in":[31,58,88,117,222],"the":[32,51,74,166],"presence":[33],"of":[34,50,76,91,208,217],"dynamic":[35,48,60,70,77,97,195,210,250],"elements.":[36],"Previous":[37],"research":[38],"primarily":[40],"employed":[41],"geometric":[42],"semantic":[44,142],"constraints":[45],"address":[47],"regions":[49],"scene.":[52,167],"Nevertheless,":[53],"their":[54],"efficacy":[55],"is":[56,109,112,198],"limited":[57],"complex":[59,119],"scenarios":[61],"involving":[62],"non-rigid":[63],"objects,":[64],"non-predefined":[65],"motion":[66,71,120,162,180],"targets,":[67],"low":[69,220],"targets.":[72],"Furthermore,":[73,168],"majority":[75],"SLAM":[78,98,196],"methods":[79],"are":[80],"designed":[82,113],"for":[83,161,247],"indoor":[84,224],"RGBD":[85,136],"environments,":[86,227],"resulting":[87],"a":[89,96,150,205],"lack":[90],"generalizability.":[92],"In":[93],"this":[94],"paper,":[95],"method":[99],"that":[100],"combines":[101],"instance":[102],"segmentation":[103],"optical":[105,145,172],"flow":[106,146,173],"called":[107],"RSO-SLAM":[108,111,236],"proposed.":[110],"operate":[115],"effectively":[116],"diverse":[118,206],"scenarios,":[121],"both":[122,223],"indoors":[123],"outdoors,":[125],"supports":[127],"various":[128,215],"visual":[129],"sensor":[130],"modes,":[131],"including":[132],"monocular,":[133],"stereo,":[134],"setups.":[137],"The":[138],"proposed":[139],"approach":[140],"amalgamates":[141],"information":[143],"data":[147],"by":[148,229],"employing":[149],"\u201cKMC:k-means":[151],"<inline-formula":[152],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[153],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[154],"<tex-math":[155],"notation=\"LaTeX\">$+$</tex-math>":[156],"</inline-formula>":[157],"connectivity\u201d":[158],"based":[159],"algorithm":[160],"region":[163],"detection":[164],"within":[165,186],"it":[169,245],"integrates":[170],"an":[171],"attenuation":[174],"propagation":[175,185],"strategy":[176],"facilitate":[178],"meticulous":[179],"probability":[181],"computations":[182],"inter-frame":[184],"each":[187],"identified":[188],"region.":[189],"Our":[190],"methodology\u2019s":[191],"superiority":[192],"over":[193],"approaches":[197],"firmly":[199],"established":[200],"through":[201],"comprehensive":[202],"evaluations":[203,213],"across":[204],"range":[207],"intricate":[209],"scenarios.":[211],"These":[212],"encompass":[214],"conditions":[216],"high":[218],"dynamism":[221],"outdoor":[226],"accompanied":[228],"rigorous":[230],"ablation":[231],"experiments":[232],"real-world":[234],"assessments.":[235],"exhibits":[237],"enhanced":[238],"higher":[241],"accuracy,":[243],"rendering":[244],"well-suited":[246],"nearly":[248],"all":[249],"environments.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
