{"id":"https://openalex.org/W4389544440","doi":"https://doi.org/10.1109/vtc2023-fall60731.2023.10333730","title":"Semantic map construction based on LIDAR and vision fusion","display_name":"Semantic map construction based on LIDAR and vision fusion","publication_year":2023,"publication_date":"2023-10-10","ids":{"openalex":"https://openalex.org/W4389544440","doi":"https://doi.org/10.1109/vtc2023-fall60731.2023.10333730"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2023-fall60731.2023.10333730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2023-fall60731.2023.10333730","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 98th Vehicular Technology Conference (VTC2023-Fall)","raw_type":"proceedings-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/A5103013867","display_name":"Siyuan Liang","orcid":"https://orcid.org/0000-0001-6793-5810"},"institutions":[{"id":"https://openalex.org/I4210136859","display_name":"Xi\u2019an University of Posts and Telecommunications","ror":"https://ror.org/04jn0td46","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136859"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Liang","raw_affiliation_strings":["Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121","institution_ids":["https://openalex.org/I4210136859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101756665","display_name":"Wenxi Li","orcid":"https://orcid.org/0000-0002-7892-1737"},"institutions":[{"id":"https://openalex.org/I4210136859","display_name":"Xi\u2019an University of Posts and Telecommunications","ror":"https://ror.org/04jn0td46","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136859"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxi Li","raw_affiliation_strings":["Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121","institution_ids":["https://openalex.org/I4210136859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014397342","display_name":"Guodong Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guodong Duan","raw_affiliation_strings":["Hunan Vanguard Group Co. Ltd.,Changsha,China,410100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan Vanguard Group Co. Ltd.,Changsha,China,410100","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014150237","display_name":"Pengbo Chen","orcid":"https://orcid.org/0000-0003-1783-3773"},"institutions":[{"id":"https://openalex.org/I4210136859","display_name":"Xi\u2019an University of Posts and Telecommunications","ror":"https://ror.org/04jn0td46","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136859"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengbo Chen","raw_affiliation_strings":["Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121","institution_ids":["https://openalex.org/I4210136859"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064396780","display_name":"Rui Gong","orcid":"https://orcid.org/0000-0001-8197-0460"},"institutions":[{"id":"https://openalex.org/I4210136859","display_name":"Xi\u2019an University of Posts and Telecommunications","ror":"https://ror.org/04jn0td46","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136859"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Gong","raw_affiliation_strings":["Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an University of Posts and Telecommunications,School of Communications and Information Engineering, Key Laboratory of Information Communication Network and Security,Xi’an,China,710121","institution_ids":["https://openalex.org/I4210136859"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5621,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90048818,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8337518572807312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8263919949531555},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7001358866691589},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6318075060844421},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5982753038406372},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5887404084205627},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5876947045326233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5367329120635986},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4643568992614746},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4561558961868286},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41860708594322205},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.41403812170028687},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3169865012168884}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8337518572807312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8263919949531555},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7001358866691589},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6318075060844421},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5982753038406372},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5887404084205627},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5876947045326233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5367329120635986},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4643568992614746},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4561558961868286},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41860708594322205},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.41403812170028687},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3169865012168884},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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":1,"locations":[{"id":"doi:10.1109/vtc2023-fall60731.2023.10333730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2023-fall60731.2023.10333730","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 98th Vehicular Technology Conference (VTC2023-Fall)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2115579991","https://openalex.org/W2296228853","https://openalex.org/W2535547924","https://openalex.org/W2555771853","https://openalex.org/W2964309882","https://openalex.org/W2969883507","https://openalex.org/W3003991701","https://openalex.org/W3102327032","https://openalex.org/W3161189057","https://openalex.org/W3175703004","https://openalex.org/W3199054470","https://openalex.org/W3205251654","https://openalex.org/W3210852788","https://openalex.org/W4234552385","https://openalex.org/W4311168005","https://openalex.org/W4318464536","https://openalex.org/W6730011800","https://openalex.org/W6763422710","https://openalex.org/W6797574089"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4399442168","https://openalex.org/W2114282491","https://openalex.org/W4225368644"],"abstract_inverted_index":{"When":[0],"Internet":[1],"of":[2,90,138,151],"Things":[3],"(IoT)":[4],"based":[5],"unmanned":[6],"ground":[7,155,183],"vehicles":[8,156],"need":[9],"to":[10,21,26,33,44,116,132,169,180],"perform":[11],"tasks":[12],"in":[13,102,110,163],"complex":[14],"scenes,":[15],"traditional":[16],"geometric":[17],"maps":[18,48,92,152],"are":[19,114],"difficult":[20],"meet":[22],"the":[23,63,76,84,88,98,103,107,111,134,139,159],"requirements":[24],"due":[25],"insufficient":[27],"information.":[28],"Therefore,":[29],"it":[30],"is":[31,56,65,81],"necessary":[32],"construct":[34,45],"semantic":[35,47,69,91,100,108,161],"maps.":[36],"In":[37,172],"this":[38,178],"paper,":[39],"we":[40],"introduce":[41],"a":[42,78,164],"method":[43],"3D":[46],"by":[49,93],"integrating":[50],"LiDAR":[51],"and":[52,60,121,136,149,167,187],"camera":[53,64],"data.":[54],"LIDAR":[55],"responsible":[57,66],"for":[58,67,126],"localization":[59],"mapping,":[61],"while":[62],"high-precision":[68],"segmentation.":[70],"Through":[71],"external":[72],"parameter":[73],"calibration":[74],"between":[75],"sensors,":[77],"point":[79,104,112,119],"cloud":[80,113],"projected":[82],"onto":[83],"image,":[85],"which":[86],"facilitates":[87],"construction":[89],"associating":[94],"each":[95],"pixel":[96],"with":[97,177],"corresponding":[99],"information":[101,162],"cloud.":[105],"Meanwhile,":[106],"details":[109],"utilized":[115],"enhance":[117],"feature":[118],"matching":[120],"support":[122,146],"back-end":[123],"SLAM":[124],"optimization":[125],"improved":[127],"pose":[128],"estimation.":[129],"This":[130],"helps":[131],"improve":[133],"robustness":[135],"accuracy":[137],"whole":[140],"system.":[141],"IoT":[142,175],"technology":[143,176],"can":[144,157],"also":[145],"remote":[147],"updating":[148],"upgrading":[150],"so":[153],"that":[154],"access":[158],"latest":[160],"timely":[165],"manner":[166],"adapt":[168],"changing":[170],"environments.":[171],"conclusion":[173],"combining":[174],"approach":[179],"achieve":[181],"smarter":[182],"vehicle":[184],"mission":[185],"execution":[186],"environment":[188],"awareness.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}