{"id":"https://openalex.org/W3107577571","doi":"https://doi.org/10.1109/tvt.2020.3041852","title":"Hybrid Semi-Dense 3D Semantic-Topological Mapping From Stereo Visual-Inertial Odometry SLAM With Loop Closure Detection","display_name":"Hybrid Semi-Dense 3D Semantic-Topological Mapping From Stereo Visual-Inertial Odometry SLAM With Loop Closure Detection","publication_year":2020,"publication_date":"2020-12-01","ids":{"openalex":"https://openalex.org/W3107577571","doi":"https://doi.org/10.1109/tvt.2020.3041852","mag":"3107577571"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.3041852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3041852","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5067200719","display_name":"Shuhuan Wen","orcid":"https://orcid.org/0000-0002-7646-4958"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuhuan Wen","raw_affiliation_strings":["Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-7646-4958","affiliations":[{"raw_affiliation_string":"Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112935454","display_name":"Yanfang Zhao","orcid":"https://orcid.org/0000-0001-9510-4686"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfang Zhao","raw_affiliation_strings":["Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027021748","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0002-7658-284X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Liu","raw_affiliation_strings":["Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-7658-284X","affiliations":[{"raw_affiliation_string":"Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"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":"Fuchun Sun","raw_affiliation_strings":["Institute for Artificial Intelligence, State Key Lab of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence, State Key Lab of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101921000","display_name":"Huibin Lu","orcid":"https://orcid.org/0000-0003-2009-6970"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huibin Lu","raw_affiliation_strings":["College of Information Science and Engineering, Yanshan University, Qinhuangdao, China","Key Laboratory for Special Fiber and Fiber Sensor of Hebei, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Key Laboratory for Special Fiber and Fiber Sensor of Hebei, Qinhuangdao, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019284806","display_name":"Zhe Wang","orcid":"https://orcid.org/0000-0002-2371-2612"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Wang","raw_affiliation_strings":["Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":39.1564,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99487892,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"69","issue":"12","first_page":"16057","last_page":"16066"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8010269403457642},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7282674908638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7227955460548401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6944712400436401},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6781262755393982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49707844853401184},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48877522349357605},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.44865769147872925},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4303876757621765},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4251900613307953},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.41403165459632874},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3721882700920105},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35896551609039307}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8010269403457642},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7282674908638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7227955460548401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6944712400436401},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6781262755393982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49707844853401184},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48877522349357605},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.44865769147872925},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4303876757621765},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4251900613307953},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.41403165459632874},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3721882700920105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35896551609039307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2020.3041852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3041852","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G418610320","display_name":null,"funder_award_id":"61673125","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6914846217","display_name":null,"funder_award_id":"61773333","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7208349460","display_name":null,"funder_award_id":"201908130016","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1498041548","https://openalex.org/W1536680647","https://openalex.org/W1612997784","https://openalex.org/W1849277567","https://openalex.org/W1861492603","https://openalex.org/W1964905016","https://openalex.org/W1970504153","https://openalex.org/W1979266466","https://openalex.org/W1989484209","https://openalex.org/W2049750053","https://openalex.org/W2108134361","https://openalex.org/W2113685147","https://openalex.org/W2117228865","https://openalex.org/W2130103520","https://openalex.org/W2131846894","https://openalex.org/W2133464237","https://openalex.org/W2144824356","https://openalex.org/W2152671441","https://openalex.org/W2160122897","https://openalex.org/W2164406796","https://openalex.org/W2165216595","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2523049145","https://openalex.org/W2535547924","https://openalex.org/W2555771853","https://openalex.org/W2613718673","https://openalex.org/W2739423245","https://openalex.org/W2745859992","https://openalex.org/W2771345721","https://openalex.org/W2808571300","https://openalex.org/W2884962765","https://openalex.org/W2897971883","https://openalex.org/W2901995209","https://openalex.org/W2909063396","https://openalex.org/W2923015859","https://openalex.org/W2952311350","https://openalex.org/W2963150697","https://openalex.org/W2963872397","https://openalex.org/W2967502479","https://openalex.org/W3000338907","https://openalex.org/W3003238736","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106458387","https://openalex.org/W3125449081","https://openalex.org/W6679388247","https://openalex.org/W6730011800","https://openalex.org/W6758162286","https://openalex.org/W6769397320"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029"],"abstract_inverted_index":{"Intelligent":[0],"mobile":[1],"vehicles":[2],"asks":[3],"for":[4,82,87],"the":[5,36,120,162,179,186],"ability":[6],"to":[7,9,14,73,134,142],"learn":[8],"comprehend":[10],"immediate":[11],"surroundings":[12],"similar":[13],"human":[15],"cognition":[16],"and":[17,27,85,109,139,166],"autonomously":[18],"navigate":[19],"in":[20],"an":[21],"unknown":[22],"scene.":[23],"Although":[24],"simultaneous":[25],"localization":[26,121],"mapping":[28,69],"(SLAM)":[29],"can":[30,99],"construct":[31],"a":[32,45,56,63,80,92,106,110,124,143],"geometrically":[33],"surrounding":[34],"map,":[35],"map":[37,58,81,117,147],"contains":[38],"little":[39],"semantic":[40,89,137],"information.":[41],"This":[42,127],"paper":[43,128],"presents":[44],"novel":[46],"stereo":[47,96,150],"visual-inertial":[48,97,103,111,151],"system":[49,98,112,160],"with":[50,171],"loop":[51,125],"closure":[52],"detection":[53],"based":[54],"on":[55,161],"semantic-topological":[57,68,146],"framework.":[59],"In":[60],"our":[61,158],"system,":[62,108],"hybrid":[64],"3D":[65,145],"point":[66],"cloud":[67],"framework":[70],"is":[71,113,182],"used":[72],"realize":[74],"autonomous":[75],"navigation":[76],"simply":[77],"by":[78,149],"providing":[79],"path":[83],"planning":[84],"meanwhile":[86],"storing":[88],"information":[90,138],"under":[91],"dynamic":[93],"environment.":[94],"A":[95],"obtain":[100,135],"more":[101,183],"accurate":[102],"odometry":[104],"than":[105,185],"monocular":[107],"capable":[114],"of":[115,157],"real-time":[116],"correction":[118],"when":[119],"module":[122],"detects":[123],"closure.":[126],"adopts":[129],"state-of-the-art":[130],"Mask":[131],"R-CNN":[132],"components":[133],"2D":[136],"project":[140],"it":[141,170],"semi-dense":[144],"built":[148],"SLAM.":[152],"We":[153],"perform":[154],"experimental":[155],"evaluation":[156],"proposed":[159,180],"EuRoC":[163],"MAV":[164],"datasets":[165],"we":[167],"also":[168],"compare":[169],"other":[172,187],"competitive":[173,188],"methods.":[174,189],"Our":[175],"results":[176],"demonstrate":[177],"that":[178],"method":[181],"effective":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
