{"id":"https://openalex.org/W4408565455","doi":"https://doi.org/10.1109/tvt.2025.3552541","title":"MD-SLAM: A Multi-Task Deep-Learning-Based Visual SLAM System in Dynamic Environments","display_name":"MD-SLAM: A Multi-Task Deep-Learning-Based Visual SLAM System in Dynamic Environments","publication_year":2025,"publication_date":"2025-03-18","ids":{"openalex":"https://openalex.org/W4408565455","doi":"https://doi.org/10.1109/tvt.2025.3552541"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3552541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3552541","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/A5100693517","display_name":"Ying He","orcid":"https://orcid.org/0000-0003-1733-9791"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying He","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104669089","display_name":"Xinyu Zeng","orcid":"https://orcid.org/0009-0003-6105-5056"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zeng","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420016","display_name":"F. Richard Yu","orcid":"https://orcid.org/0000-0003-1006-7594"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Richard Yu","raw_affiliation_strings":["School of Information Technology, Carleton University, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"School of Information Technology, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015593212","display_name":"Z. Zhong","orcid":"https://orcid.org/0000-0002-1211-035X"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengjun Zhong","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062494507","display_name":"Zhiquan Liu","orcid":"https://orcid.org/0000-0002-3934-2177"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiquan Liu","raw_affiliation_strings":["Jinan University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114030938","display_name":"Guang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang Zhou","raw_affiliation_strings":["DeepRoute Inc., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"DeepRoute Inc., Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100693517"],"corresponding_institution_ids":["https://openalex.org/I180726961"],"apc_list":null,"apc_paid":null,"fwci":3.4363,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.90898582,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"74","issue":"8","first_page":"11882","last_page":"11893"},"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/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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9927999973297119,"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":0.6395386457443237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6191299557685852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6181154251098633},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5913662910461426},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5562114715576172},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.47833797335624695},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4517962634563446},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36958080530166626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28780925273895264},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23550429940223694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18800365924835205},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13483354449272156}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6395386457443237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6191299557685852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6181154251098633},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5913662910461426},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5562114715576172},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.47833797335624695},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4517962634563446},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36958080530166626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28780925273895264},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23550429940223694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18800365924835205},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13483354449272156}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3552541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3552541","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":[],"awards":[{"id":"https://openalex.org/G2030486226","display_name":null,"funder_award_id":"62371309","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3155578932","display_name":null,"funder_award_id":"62271324","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5485689011","display_name":null,"funder_award_id":"62231020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8942238446","display_name":null,"funder_award_id":"62394335","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491719799","https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2053740312","https://openalex.org/W2076917298","https://openalex.org/W2117228865","https://openalex.org/W2124386111","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2340897893","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2614947669","https://openalex.org/W2745859992","https://openalex.org/W2761862361","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2960033181","https://openalex.org/W2962705366","https://openalex.org/W2963150697","https://openalex.org/W2963748588","https://openalex.org/W2963881378","https://openalex.org/W2996333182","https://openalex.org/W2999502853","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3120564201","https://openalex.org/W3120651375","https://openalex.org/W3131673036","https://openalex.org/W3150886226","https://openalex.org/W3166285241","https://openalex.org/W3187115527","https://openalex.org/W4292261858","https://openalex.org/W4312339537","https://openalex.org/W4319599773","https://openalex.org/W4361274086","https://openalex.org/W4385245566","https://openalex.org/W4386076019","https://openalex.org/W4400447774","https://openalex.org/W4400646886","https://openalex.org/W4405741840","https://openalex.org/W6767104088"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W3124914020","https://openalex.org/W4375867731","https://openalex.org/W2141033859","https://openalex.org/W2156434174","https://openalex.org/W2071701083","https://openalex.org/W2383687187","https://openalex.org/W2081517010","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"With":[0],"the":[1,57,119,130],"development":[2],"of":[3,28,37,56],"self-driving":[4],"vehicles":[5],"and":[6,12,35,49,93,99,113,129],"intelligent":[7],"robots,":[8],"visual":[9,29,58,69,138],"simultaneous":[10],"localization":[11],"mapping":[13],"(SLAM)":[14],"has":[15],"attracted":[16],"significant":[17],"attention.":[18],"In":[19,62],"dynamic":[20,50,101,110,115],"environments,":[21],"non-stationary":[22],"objects":[23],"can":[24,42],"cause":[25],"performance":[26],"degradation":[27,55],"SLAM":[30,59,70,120,139],"systems.":[31,140],"The":[32],"inaccurate":[33],"pose":[34],"lack":[36],"semanticinformation":[38],"in":[39,53,118],"feature":[40],"points":[41,111,116],"lead":[43],"to":[44,78,89,107],"incorrect":[45],"differentiation":[46],"between":[47],"static":[48],"points,":[51],"resulting":[52],"a":[54,67],"system's":[60],"performance.":[61],"this":[63,80],"paper,":[64],"we":[65,83],"propose":[66],"novel":[68],"system":[71],"based":[72],"on":[73,126],"multi-task":[74,85],"deep":[75,86],"neural":[76,87],"networks":[77,88],"address":[79],"issue.":[81],"Specifically,":[82],"apply":[84],"extract":[90],"higher":[91],"quality":[92],"more":[94],"robust":[95],"oriented":[96],"local":[97],"features":[98],"perceive":[100],"semantic":[102],"regions,":[103],"which":[104],"are":[105],"used":[106],"better":[108],"remove":[109],"spatially":[112],"potential":[114],"semantically":[117],"system.":[121],"We":[122],"evaluate":[123],"our":[124,134],"method":[125,135],"public":[127],"datasets,":[128],"results":[131],"show":[132],"that":[133],"outperforms":[136],"existing":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}