{"id":"https://openalex.org/W4285400503","doi":"https://doi.org/10.1109/ur55393.2022.9826249","title":"A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM","display_name":"A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM","publication_year":2022,"publication_date":"2022-07-04","ids":{"openalex":"https://openalex.org/W4285400503","doi":"https://doi.org/10.1109/ur55393.2022.9826249"},"language":"en","primary_location":{"id":"doi:10.1109/ur55393.2022.9826249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","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/A5026002375","display_name":"Ioannis Asmanis","orcid":"https://orcid.org/0000-0001-8002-3197"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Ioannis Asmanis","raw_affiliation_strings":["National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075917171","display_name":"Panagiotis Mermigkas","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Panagiotis Mermigkas","raw_affiliation_strings":["National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Georgia Chalvatzaki","raw_affiliation_strings":["Technische Universität Darmstadt,Intelligent Autonomous Systems,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Intelligent Autonomous Systems,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Technische Universität Darmstadt,Intelligent Autonomous Systems,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Intelligent Autonomous Systems,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079243420","display_name":"Petros Maragos","orcid":"https://orcid.org/0000-0003-0534-2707"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Petros Maragos","raw_affiliation_strings":["National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Technical University of Athens,Electrical and Computer Engineering,Zografou, Athens,Greece,15780","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"81","issue":null,"first_page":"288","last_page":"294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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/computer-science","display_name":"Computer science","score":0.7180365324020386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5340259075164795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5264958739280701},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4937959611415863},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.32482683658599854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20114809274673462},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17968371510505676}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7180365324020386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5340259075164795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5264958739280701},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4937959611415863},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.32482683658599854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20114809274673462},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17968371510505676}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur55393.2022.9826249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1749494163","https://openalex.org/W1861492603","https://openalex.org/W1967740178","https://openalex.org/W1991544872","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2024548552","https://openalex.org/W2058535340","https://openalex.org/W2069295011","https://openalex.org/W2071039340","https://openalex.org/W2080486046","https://openalex.org/W2080823437","https://openalex.org/W2143062563","https://openalex.org/W2153054365","https://openalex.org/W2156953558","https://openalex.org/W2166132830","https://openalex.org/W2168104347","https://openalex.org/W2218842719","https://openalex.org/W2461937780","https://openalex.org/W2523049145","https://openalex.org/W2527142681","https://openalex.org/W2527300128","https://openalex.org/W2535547924","https://openalex.org/W2739423245","https://openalex.org/W2811184430","https://openalex.org/W2886388988","https://openalex.org/W2887751724","https://openalex.org/W2890601986","https://openalex.org/W2895823395","https://openalex.org/W2909150452","https://openalex.org/W2909157769","https://openalex.org/W2927157030","https://openalex.org/W2957348723","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963225136","https://openalex.org/W2963357556","https://openalex.org/W2964226622","https://openalex.org/W2967044683","https://openalex.org/W2977806680","https://openalex.org/W2999332493","https://openalex.org/W3048686556","https://openalex.org/W3090386798","https://openalex.org/W3091485922","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W4255133955","https://openalex.org/W6608490729","https://openalex.org/W6620707391","https://openalex.org/W6628973269","https://openalex.org/W6648200313","https://openalex.org/W6753856400","https://openalex.org/W6754127160"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"Over":[0],"the":[1,25,64,106],"last":[2],"two":[3,51],"decades,":[4],"visual":[5],"SLAM":[6,70],"research":[7],"has":[8],"taken":[9],"a":[10,46,56],"turn":[11],"towards":[12],"using":[13],"geometric":[14,77],"structures":[15],"more":[16],"complex":[17],"than":[18],"points":[19],"for":[20,48,59],"describing":[21],"indoor":[22],"environments.":[23],"At":[24],"same":[26],"time,":[27],"semantic":[28],"information":[29],"is":[30],"becoming":[31],"increasingly":[32],"available":[33],"to":[34,79],"robotic":[35],"applications,":[36],"improving":[37],"robots\u2019":[38],"perceptive":[39],"capabilities.":[40],"In":[41],"this":[42],"work,":[43],"we":[44,54],"introduce":[45],"method":[47],"uniting":[49],"these":[50],"approaches.":[52],"Namely,":[53],"propose":[55],"novel":[57],"mechanism":[58],"propagating":[60],"semantics":[61],"directly":[62],"into":[63],"optimization":[65],"level":[66],"of":[67],"an":[68],"RGB-D":[69],"framework.":[71],"This":[72],"framework":[73],"internally":[74],"uses":[75],"unified":[76],"representations":[78],"jointly":[80],"describe":[81],"points,":[82],"lines":[83],"and":[84,98],"planes.":[85],"We":[86],"also":[87],"validate":[88],"our":[89],"approach":[90],"with":[91,100],"experiments":[92],"on":[93],"various":[94],"datasets,":[95],"both":[96],"synthetic":[97],"real-world,":[99],"comparisons":[101],"against":[102],"representative":[103],"systems":[104],"from":[105],"literature.":[107]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}