{"id":"https://openalex.org/W2925142855","doi":"https://doi.org/10.3934/mfc.2019003","title":"SEMANTIC-RTAB-MAP (SRM): A semantic SLAM system with CNNs on depth images","display_name":"SEMANTIC-RTAB-MAP (SRM): A semantic SLAM system with CNNs on depth images","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2925142855","doi":"https://doi.org/10.3934/mfc.2019003","mag":"2925142855"},"language":"en","primary_location":{"id":"doi:10.3934/mfc.2019003","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2019003","pdf_url":"https://www.aimsciences.org/article/exportPdf?id=0c0f855e-e7d9-47af-a507-4ed0e094f9dc","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.aimsciences.org/article/exportPdf?id=0c0f855e-e7d9-47af-a507-4ed0e094f9dc","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043722033","display_name":"Mingyuan Mao","orcid":"https://orcid.org/0009-0007-1668-8814"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingyuan Mao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102027149","display_name":"Hewei Zhang","orcid":"https://orcid.org/0000-0001-9879-2170"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hewei Zhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101988199","display_name":"Simeng Li","orcid":"https://orcid.org/0000-0002-8268-2388"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Simeng Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5015525872","display_name":"Baochang Zhang","orcid":"https://orcid.org/0000-0001-7396-6218"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baochang Zhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.7931,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.9767792,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":"1","first_page":"29","last_page":"41"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9993000030517578,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7823804020881653},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7405822277069092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7294249534606934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7043964862823486},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.6617489457130432},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.633995532989502},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6166407465934753},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5133506655693054},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.46264684200286865},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.42783743143081665},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23697757720947266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12116861343383789},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09678027033805847}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7823804020881653},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7405822277069092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7294249534606934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7043964862823486},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.6617489457130432},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.633995532989502},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6166407465934753},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5133506655693054},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.46264684200286865},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.42783743143081665},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23697757720947266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12116861343383789},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09678027033805847}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3934/mfc.2019003","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2019003","pdf_url":"https://www.aimsciences.org/article/exportPdf?id=0c0f855e-e7d9-47af-a507-4ed0e094f9dc","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3934/mfc.2019003","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2019003","pdf_url":"https://www.aimsciences.org/article/exportPdf?id=0c0f855e-e7d9-47af-a507-4ed0e094f9dc","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2770135404"],"related_works":["https://openalex.org/W2086478527","https://openalex.org/W3158344581","https://openalex.org/W4293067784","https://openalex.org/W2962973652","https://openalex.org/W2979718872","https://openalex.org/W2031672365","https://openalex.org/W3183290586","https://openalex.org/W2018811431","https://openalex.org/W3088596192","https://openalex.org/W2794771666"],"abstract_inverted_index":{"SLAM":[0,19,42],"(simultaneous":[1],"localization":[2,68],"and":[3,13,47,61,72,87,95],"mapping)":[4],"system":[5,43],"can":[6,22],"be":[7],"implemented":[8],"based":[9,44],"on":[10,45],"monocular,":[11],"RGB-D":[12],"stereo":[14],"cameras.":[15],"RTAB-MAP":[16,46],"is":[17],"a":[18,32,40],"system,":[20],"which":[21],"build":[23],"dense":[24],"3D":[25,78],"map.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"present":[31],"novel":[33],"method":[34],"named":[35],"SEMANTIC-RTAB-MAP":[36],"(SRM)":[37],"to":[38,54],"implement":[39],"semantic":[41,75],"deep":[48],"learning.":[49],"We":[50,81],"use":[51,63],"YOLOv2":[52],"network":[53],"detect":[55],"target":[56],"objects":[57],"in":[58,84],"2D":[59],"images,":[60],"then":[62],"depth":[64],"information":[65,76],"for":[66],"precise":[67],"of":[69],"the":[70,88],"targets":[71],"finally":[73],"add":[74],"into":[77],"point":[79],"clouds.":[80],"apply":[82],"SRM":[83],"different":[85],"scenes,":[86],"results":[89],"show":[90],"its":[91],"higher":[92],"running":[93],"speed":[94],"accuracy.":[96]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-19T21:40:30.786675","created_date":"2025-10-10T00:00:00"}
