{"id":"https://openalex.org/W4400277015","doi":"https://doi.org/10.1109/wcnc57260.2024.10570745","title":"SPP-SLAM: Dynamic Visual SLAM with Multiple Constraints based on Semantic Masks and Probabilistic Propagation","display_name":"SPP-SLAM: Dynamic Visual SLAM with Multiple Constraints based on Semantic Masks and Probabilistic Propagation","publication_year":2024,"publication_date":"2024-04-21","ids":{"openalex":"https://openalex.org/W4400277015","doi":"https://doi.org/10.1109/wcnc57260.2024.10570745"},"language":"en","primary_location":{"id":"doi:10.1109/wcnc57260.2024.10570745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wcnc57260.2024.10570745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Wireless Communications and Networking Conference (WCNC)","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/A5031867886","display_name":"Run Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Run Qiu","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389169","display_name":"Ying He","orcid":"https://orcid.org/0000-0002-6749-4485"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying He","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China","institution_ids":["https://openalex.org/I4210136793"]}]},{"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/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"F. Richard Yu","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111540139","display_name":"Guang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang Zhou","raw_affiliation_strings":["DeepRoute.ai Inc"],"affiliations":[{"raw_affiliation_string":"DeepRoute.ai Inc","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031867886"],"corresponding_institution_ids":["https://openalex.org/I4210136793"],"apc_list":null,"apc_paid":null,"fwci":0.7561,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77995609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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":0.9962999820709229,"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":0.9897000193595886,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9890999794006348,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.7554682493209839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7022730708122253},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6359617114067078},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6334179639816284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6298859715461731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22030672430992126},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13611432909965515}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7554682493209839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7022730708122253},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6359617114067078},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6334179639816284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6298859715461731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22030672430992126},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13611432909965515}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/wcnc57260.2024.10570745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wcnc57260.2024.10570745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Wireless Communications and Networking Conference (WCNC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G2109767537","display_name":null,"funder_award_id":"2023A1515011979","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1514909517","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1996510988","https://openalex.org/W2021851106","https://openalex.org/W2108134361","https://openalex.org/W2151290401","https://openalex.org/W2193145675","https://openalex.org/W2535547924","https://openalex.org/W2570343428","https://openalex.org/W2618530766","https://openalex.org/W2745859992","https://openalex.org/W2808571300","https://openalex.org/W2950989657","https://openalex.org/W2963150697","https://openalex.org/W2963881378","https://openalex.org/W3089936780","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W4213286046","https://openalex.org/W4285507666","https://openalex.org/W4293584584","https://openalex.org/W4378697007","https://openalex.org/W4385767796","https://openalex.org/W6677548441","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Visual":[0],"simultaneous":[1],"localization":[2],"and":[3,70,85,104,141],"mapping":[4],"(vS-LAM)":[5],"has":[6],"attracted":[7],"great":[8],"attentions":[9],"in":[10,22,26,37,157],"mobile":[11],"robots.":[12],"Most":[13],"vSLAM":[14,46,55,155],"systems":[15,156],"assume":[16],"that":[17,34,146],"the":[18,27,90,100,129,133,139,147,152],"objects":[19,33],"are":[20,31,35,79,109],"stationary":[21],"static":[23],"environments.":[24],"However,":[25],"real":[28],"world,":[29],"there":[30],"many":[32],"non-stationary":[36],"dynamic":[38,59,91,106],"environments,":[39,60],"which":[40,64],"will":[41],"cause":[42],"performance":[43,153],"degradation":[44],"of":[45,76,93,132,154,160],"systems.":[47],"In":[48,111],"this":[49],"paper,":[50],"we":[51,113],"propose":[52,114],"a":[53,115,158],"novel":[54],"system":[56],"suitable":[57],"for":[58],"named":[61],"as":[62],"SPP-SLAM,":[63],"is":[65,97],"based":[66],"on":[67,138],"semantic":[68,82,130],"masks":[69,131],"probabilistic":[71],"propagation.":[72],"Prior":[73],"motion":[74],"probabilities":[75],"feature":[77,95,107],"points":[78,108],"obtained":[80,98],"using":[81],"mask":[83],"constraints":[84],"multi-view":[86],"geometric":[87],"constraints.":[88],"Then":[89],"probability":[92,101],"each":[94],"point":[96],"via":[99],"propagation":[102],"model,":[103],"highly":[105],"rejected.":[110],"addition,":[112],"missed":[116,134],"detection":[117],"compensation":[118],"module":[119],"combined":[120],"with":[121],"inertial":[122],"measurement":[123],"unit":[124],"(IMU)":[125],"information":[126],"to":[127],"recover":[128],"objects.":[135],"Experimental":[136],"results":[137],"OpenLORIS-Scen":[140],"TUM":[142],"RGB-D":[143],"datasets":[144],"demonstrate":[145],"proposed":[148],"approach":[149],"can":[150],"improve":[151],"variety":[159],"challenging":[161],"scenarios.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
