{"id":"https://openalex.org/W4318464536","doi":"https://doi.org/10.3390/s23031502","title":"SLAM and 3D Semantic Reconstruction Based on the Fusion of Lidar and Monocular Vision","display_name":"SLAM and 3D Semantic Reconstruction Based on the Fusion of Lidar and Monocular Vision","publication_year":2023,"publication_date":"2023-01-29","ids":{"openalex":"https://openalex.org/W4318464536","doi":"https://doi.org/10.3390/s23031502","pmid":"https://pubmed.ncbi.nlm.nih.gov/36772544"},"language":"en","primary_location":{"id":"doi:10.3390/s23031502","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031502","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1502/pdf?version=1675765767","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/3/1502/pdf?version=1675765767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058392702","display_name":"Lu Lou","orcid":"https://orcid.org/0000-0002-2817-5932"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lu Lou","raw_affiliation_strings":["School of Information Science and Engineering, Chongqing Jiaotong University, Chongqing 400074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Chongqing Jiaotong University, Chongqing 400074, China","institution_ids":["https://openalex.org/I63371133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101479911","display_name":"Yitian Li","orcid":"https://orcid.org/0000-0001-9714-1368"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yitian Li","raw_affiliation_strings":["School of Information Science and Engineering, Chongqing Jiaotong University, Chongqing 400074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Chongqing Jiaotong University, Chongqing 400074, China","institution_ids":["https://openalex.org/I63371133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100360395","display_name":"Qi Zhang","orcid":"https://orcid.org/0000-0003-0235-1333"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["Guangdong Haoxing Technology Co., Ltd, Foshan 528300, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Haoxing Technology Co., Ltd, Foshan 528300, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101955708","display_name":"Hanbing Wei","orcid":"https://orcid.org/0000-0002-7093-4656"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanbing Wei","raw_affiliation_strings":["School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China","institution_ids":["https://openalex.org/I63371133"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058392702"],"corresponding_institution_ids":["https://openalex.org/I63371133"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":17.1535,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98727919,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"23","issue":"3","first_page":"1502","last_page":"1502"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9983000159263611,"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/computer-vision","display_name":"Computer vision","score":0.7916167974472046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.783369779586792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7415955662727356},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7342844009399414},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7284926176071167},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7092146873474121},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6783862113952637},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5960659980773926},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5913609862327576},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5208938121795654},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5088763236999512},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.48937076330184937},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4469272494316101},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2476637065410614},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17672932147979736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17200878262519836},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14820697903633118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10702970623970032}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7916167974472046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.783369779586792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7415955662727356},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7342844009399414},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7284926176071167},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7092146873474121},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6783862113952637},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5960659980773926},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5913609862327576},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5208938121795654},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5088763236999512},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.48937076330184937},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4469272494316101},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2476637065410614},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17672932147979736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17200878262519836},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14820697903633118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10702970623970032},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23031502","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031502","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1502/pdf?version=1675765767","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36772544","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36772544","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9920633","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9920633","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:8b19cc74704c4835b630f2500cede146","is_oa":true,"landing_page_url":"https://doaj.org/article/8b19cc74704c4835b630f2500cede146","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 3, p 1502 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/3/1502/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23031502","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 3; Pages: 1502","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23031502","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031502","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1502/pdf?version=1675765767","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G2080136458","display_name":null,"funder_award_id":"cstc2021jcyj","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G2853580766","display_name":null,"funder_award_id":"cstc2021jcyj-msxmX1121","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G3819933702","display_name":null,"funder_award_id":"52172381","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G8042505739","display_name":null,"funder_award_id":"52172381","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"},{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4318464536.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1991544872","https://openalex.org/W2115579991","https://openalex.org/W2124313187","https://openalex.org/W2150066425","https://openalex.org/W2152671441","https://openalex.org/W2193043285","https://openalex.org/W2340897893","https://openalex.org/W2535547924","https://openalex.org/W2725897987","https://openalex.org/W2745859992","https://openalex.org/W2808571300","https://openalex.org/W2809468438","https://openalex.org/W2886968365","https://openalex.org/W2888144883","https://openalex.org/W2888375042","https://openalex.org/W2890090517","https://openalex.org/W2909908358","https://openalex.org/W2963150697","https://openalex.org/W2963416674","https://openalex.org/W2964226622","https://openalex.org/W2964794620","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3015235064","https://openalex.org/W3024627041","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3106458387","https://openalex.org/W3130344538","https://openalex.org/W3162996633","https://openalex.org/W3196904463","https://openalex.org/W4238202755","https://openalex.org/W4283166616","https://openalex.org/W6634138237"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4386821976"],"abstract_inverted_index":{"Monocular":[0],"camera":[1],"and":[2,27,38,48,63,107,112,121,135,152],"Lidar":[3,47,60],"are":[4,78,101],"the":[5,15,18,21,44,53,57,97,104,113,119,133,164],"two":[6,19],"most":[7,142],"commonly":[8],"used":[9],"sensors":[10],"in":[11,141,163],"unmanned":[12,98,165],"vehicles.":[13],"Combining":[14],"advantages":[16],"of":[17,25,46],"is":[20,126,148],"current":[22],"research":[23],"focus":[24],"SLAM":[26,37],"semantic":[28,39,54,66,92,154],"analysis.":[29],"In":[30],"this":[31],"paper,":[32],"we":[33],"propose":[34],"an":[35],"improved":[36],"reconstruction":[40,146],"method":[41,85,158],"based":[42],"on":[43,103],"fusion":[45],"monocular":[49],"vision.":[50],"We":[51],"fuse":[52],"image":[55],"with":[56,75,118,132],"low-resolution":[58],"3D":[59,91,145],"point":[61,93],"clouds":[62,94],"generate":[64],"dense":[65],"depth":[67,76],"maps.":[68],"Through":[69],"visual":[70],"odometry,":[71],"ORB":[72],"feature":[73],"points":[74],"information":[77],"selected":[79],"to":[80,89],"improve":[81],"positioning":[82,96,124,138],"accuracy.":[83],"Our":[84,144],"uses":[86],"parallel":[87],"threads":[88],"aggregate":[90],"while":[95],"vehicle.":[99],"Experiments":[100],"conducted":[102],"public":[105],"CityScapes":[106],"KITTI":[108],"Visual":[109],"Odometry":[110],"datasets,":[111],"results":[114],"show":[115],"that":[116],"compared":[117,131],"ORB-SLAM2":[120],"DynaSLAM,":[122],"our":[123,137],"error":[125],"approximately":[127],"reduced":[128],"by":[129],"87%;":[130],"DEMO":[134],"DVL-SLAM,":[136],"accuracy":[139],"improves":[140],"sequences.":[143],"quality":[147],"better":[149],"than":[150],"DynSLAM":[151],"contains":[153],"information.":[155],"The":[156],"proposed":[157],"has":[159],"engineering":[160],"application":[161],"value":[162],"vehicles":[166],"field.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}
