{"id":"https://openalex.org/W2967502479","doi":"https://doi.org/10.1109/tvcg.2019.2932216","title":"Hierarchical Topic Model Based Object Association for Semantic SLAM","display_name":"Hierarchical Topic Model Based Object Association for Semantic SLAM","publication_year":2019,"publication_date":"2019-08-13","ids":{"openalex":"https://openalex.org/W2967502479","doi":"https://doi.org/10.1109/tvcg.2019.2932216","mag":"2967502479","pmid":"https://pubmed.ncbi.nlm.nih.gov/31403418"},"language":"en","primary_location":{"id":"doi:10.1109/tvcg.2019.2932216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2019.2932216","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5100434758","display_name":"Jianhua Zhang","orcid":"https://orcid.org/0000-0001-7844-6035"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["Compute Vision Lab, Zhejiang University of Technology"],"affiliations":[{"raw_affiliation_string":"Compute Vision Lab, Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025104944","display_name":"Mengping Gui","orcid":"https://orcid.org/0000-0001-9757-7516"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengping Gui","raw_affiliation_strings":["Compute Vision Lab, Zhejiang University of Technology"],"affiliations":[{"raw_affiliation_string":"Compute Vision Lab, Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101685621","display_name":"Qichao Wang","orcid":"https://orcid.org/0009-0001-0448-1820"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Wang","raw_affiliation_strings":["Compute Vision Lab, Zhejiang University of Technology"],"affiliations":[{"raw_affiliation_string":"Compute Vision Lab, Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072389245","display_name":"Ruyu Liu","orcid":"https://orcid.org/0000-0003-2130-9122"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ruyu Liu","raw_affiliation_strings":["Department of Informatics, Hamburg University"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Hamburg University","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109646325","display_name":"Junzhe Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhe Xu","raw_affiliation_strings":["Compute Vision Lab, Zhejiang University of Technology"],"affiliations":[{"raw_affiliation_string":"Compute Vision Lab, Zhejiang University of Technology","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055627037","display_name":"Shengyong Chen","orcid":"https://orcid.org/0000-0002-6705-3831"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyong Chen","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100434758"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":62.4943,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.99753091,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"25","issue":"11","first_page":"3052","last_page":"3062"},"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":0.9980000257492065,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/object","display_name":"Object (grammar)","score":0.7890210151672363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7775478363037109},{"id":"https://openalex.org/keywords/association","display_name":"Association (psychology)","score":0.7205896973609924},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6888337731361389},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6383506059646606},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5898813009262085},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.5004265308380127},{"id":"https://openalex.org/keywords/method","display_name":"Method","score":0.48928114771842957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.488844096660614},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46185457706451416},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.43185630440711975},{"id":"https://openalex.org/keywords/association-rule-learning","display_name":"Association rule learning","score":0.41060417890548706},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2994956076145172},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.16769227385520935},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1632167100906372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1309681534767151},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.06941971182823181}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7890210151672363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7775478363037109},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.7205896973609924},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6888337731361389},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6383506059646606},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5898813009262085},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.5004265308380127},{"id":"https://openalex.org/C512554520","wikidata":"https://www.wikidata.org/wiki/Q815844","display_name":"Method","level":3,"score":0.48928114771842957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.488844096660614},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46185457706451416},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.43185630440711975},{"id":"https://openalex.org/C193524817","wikidata":"https://www.wikidata.org/wiki/Q386780","display_name":"Association rule learning","level":2,"score":0.41060417890548706},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2994956076145172},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.16769227385520935},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1632167100906372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1309681534767151},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.06941971182823181},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvcg.2019.2932216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2019.2932216","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},{"id":"pmid:31403418","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31403418","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on visualization and computer graphics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3447508769","display_name":null,"funder_award_id":"U1509207","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7912874633","display_name":null,"funder_award_id":"61876167","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1949483711","https://openalex.org/W1970504153","https://openalex.org/W1987648924","https://openalex.org/W1991793962","https://openalex.org/W1994075312","https://openalex.org/W2013708313","https://openalex.org/W2038991702","https://openalex.org/W2063053370","https://openalex.org/W2068763856","https://openalex.org/W2069429561","https://openalex.org/W2097696373","https://openalex.org/W2100163972","https://openalex.org/W2107402720","https://openalex.org/W2107905629","https://openalex.org/W2109389234","https://openalex.org/W2120883775","https://openalex.org/W2127498532","https://openalex.org/W2134089414","https://openalex.org/W2144148101","https://openalex.org/W2147885662","https://openalex.org/W2150134683","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2167340365","https://openalex.org/W2187741934","https://openalex.org/W2344474200","https://openalex.org/W2523049145","https://openalex.org/W2535547924","https://openalex.org/W2575355475","https://openalex.org/W2615547864","https://openalex.org/W2738596250","https://openalex.org/W2739423245","https://openalex.org/W2963091090","https://openalex.org/W2963357556","https://openalex.org/W2964115315","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106250896","https://openalex.org/W6618872416","https://openalex.org/W6668041581","https://openalex.org/W6674922813","https://openalex.org/W6679849079","https://openalex.org/W6680966987","https://openalex.org/W6686958735","https://openalex.org/W6731934218","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2963091090","https://openalex.org/W2564786226","https://openalex.org/W2141498523","https://openalex.org/W2127578024","https://openalex.org/W2165113654","https://openalex.org/W1556157276","https://openalex.org/W1510326563","https://openalex.org/W2005337052","https://openalex.org/W3045922638","https://openalex.org/W2612539105"],"abstract_inverted_index":{"Object-based":[0],"simultaneous":[1],"localization":[2],"and":[3,10,47,52,94,133,159,162],"mapping":[4],"(SLAM)":[5],"is":[6,33,74,105,155],"a":[7,24,39,69,140,167],"more":[8],"natural":[9],"robust":[11],"way":[12],"for":[13],"agents":[14],"to":[15,37,98,108,114,124,173],"interact":[16],"with":[17,171],"their":[18],"surrounding":[19],"environment.":[20],"However,":[21],"it":[22],"introduces":[23],"problem":[25,66],"of":[26,62,127],"semantic":[27],"objects":[28],"association.":[29],"Correct":[30],"object":[31,41,45,64,85,91,111,122,131],"association":[32,46,65,92,132],"the":[34,63,77,83,90,99,102,125,163,174],"key":[35],"factor":[36],"achieve":[38],"successful":[40],"SLAM":[42,48],"system":[43],"because":[44],"are":[49,136],"inherently":[50],"coupled":[51,142],"have":[53],"not":[54],"been":[55],"well":[56],"tackled":[57],"yet.":[58],"A":[59],"novel":[60,100],"formulation":[61],"based":[67],"on":[68,157],"hierarchical":[70],"Dirichlet":[71],"process":[72],"(HDP)":[73],"proposed.":[75],"Through":[76],"HDP,":[78],"we":[79,120],"can":[80,88,148],"hierarchically":[81],"associate":[82],"grouped":[84],"measurements.":[86],"This":[87],"improve":[89],"accuracy":[93],"computation":[95],"efficiency.":[96],"Thanks":[97],"formulation,":[101],"proposed":[103,153],"method":[104,154],"also":[106],"able":[107],"correct":[109],"failure":[110],"associations":[112],"according":[113],"its":[115],"sampling":[116],"inference":[117],"algorithm.":[118],"Furthermore,":[119],"introduce":[121],"poses":[123],"processing":[126],"pose":[128,134],"optimization.":[129],"The":[130,152],"optimization":[135],"then":[137],"solved":[138],"in":[139],"tightly":[141],"way,":[143],"by":[144],"which":[145],"both":[146],"aspects":[147],"promote":[149],"each":[150],"other.":[151],"evaluated":[156],"indoor":[158],"outdoor":[160],"datasets":[161],"experimental":[164],"results":[165],"show":[166],"very":[168],"impressive":[169],"improvement":[170],"respect":[172],"traditional":[175],"SLAM.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}