{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,27]],"date-time":"2026-04-27T07:52:24Z","timestamp":1777276344604,"version":"3.51.4"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973222"],"award-info":[{"award-number":["61973222"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61503255"],"award-info":[{"award-number":["61503255"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005047","name":"Natural Science Foundation of Liaoning Province","doi-asserted-by":"publisher","award":["2019-ZD-0247"],"award-info":[{"award-number":["2019-ZD-0247"]}],"id":[{"id":"10.13039\/501100005047","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Fundamental Research Funds for the Universities of Liaoning Province"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2025,5]]},"DOI":"10.1007\/s11370-025-00601-5","type":"journal-article","created":{"date-parts":[[2025,5,7]],"date-time":"2025-05-07T17:28:51Z","timestamp":1746638931000},"page":"579-594","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Real-time semantic octree mapping under aerial-ground cooperative system"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5162-1240","authenticated-orcid":false,"given":"Xiao","family":"Liang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yiwei","family":"Xiu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guanglei","family":"Meng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhujun","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,7]]},"reference":[{"issue":"3","key":"601_CR1","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1080\/01691864.2024.2309622","volume":"38","author":"BM Pillai","year":"2024","unstructured":"Pillai BM, Suthakorn J, Sivaraman D et al (2024) A heterogeneous robots collaboration for safety, security, and rescue robotics: E-Asia joint research program for disaster risk and reduction management. Adv Robot 38(3):129\u2013151","journal-title":"Adv Robot"},{"issue":"6","key":"601_CR2","doi-asserted-by":"publisher","first-page":"81","DOI":"10.3390\/jsan13060081","volume":"13","author":"I Munasinghe","year":"2024","unstructured":"Munasinghe I, Perera A, Deo RC (2024) A comprehensive review of uav-ugv collaboration: Advancements and challenges. J Sens Actuator Netw 13(6):81","journal-title":"J Sens Actuator Netw"},{"issue":"4","key":"601_CR3","doi-asserted-by":"publisher","first-page":"2724","DOI":"10.1109\/TASE.2021.3061870","volume":"19","author":"J Li","year":"2021","unstructured":"Li J, Sun T, Huang X et al (2021) A memetic path planning algorithm for unmanned air\/ground vehicle cooperative detection systems. IEEE Trans Autom Sci Eng 19(4):2724\u20132737","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"7","key":"601_CR4","doi-asserted-by":"publisher","first-page":"1152","DOI":"10.3390\/rs16071152","volume":"16","author":"S Xu","year":"2024","unstructured":"Xu S, Zhou Z, Liu H et al (2024) A path planning method for collaborative coverage monitoring in urban scenarios. Remote Sens 16(7):1152","journal-title":"Remote Sens"},{"issue":"3","key":"601_CR5","doi-asserted-by":"publisher","first-page":"200","DOI":"10.3390\/machines12030200","volume":"12","author":"GG de Castro","year":"2024","unstructured":"de Castro GG, Santos TM, Andrade FA et al (2024) Heterogeneous multi-robot collaboration for coverage path planning in partially known dynamic environments. Machines 12(3):200","journal-title":"Machines"},{"issue":"5","key":"601_CR6","doi-asserted-by":"publisher","first-page":"177","DOI":"10.3390\/a17050177","volume":"17","author":"X Chen","year":"2024","unstructured":"Chen X, Wu Y, Xu S (2024) Mission planning of UAVs and UGV for building inspection in rural area. Algorithms 17(5):177","journal-title":"Algorithms"},{"issue":"1","key":"601_CR7","doi-asserted-by":"publisher","first-page":"1247","DOI":"10.3390\/s130101247","volume":"13","author":"M Garz\u00f3n","year":"2013","unstructured":"Garz\u00f3n M, Valente J, Zapata D et al (2013) An aerial-ground robotic system for navigation and obstacle mapping in large outdoor areas. Sensors 13(1):1247\u20131267","journal-title":"Sensors"},{"issue":"4","key":"601_CR8","doi-asserted-by":"publisher","first-page":"79","DOI":"10.3390\/drones4040079","volume":"4","author":"D Chatziparaschis","year":"2020","unstructured":"Chatziparaschis D, Lagoudakis MG, Partsinevelos P (2020) Aerial and ground robot collaboration for autonomous mapping in search and rescue missions. Drones 4(4):79","journal-title":"Drones"},{"key":"601_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2019.103068","volume":"112","author":"K Asadi","year":"2020","unstructured":"Asadi K, Suresh AK, Ender A et al (2020) An integrated UGV-UAV system for construction site data collection. Autom Constr 112:103068","journal-title":"Autom Constr"},{"key":"601_CR10","doi-asserted-by":"crossref","unstructured":"Yue Y, Zhao C, Wang Y, et\u00a0al (2022) Aerial-ground robots collaborative 3D mapping in GNSS-denied environments. In: 2022 international conference on robotics and automation (ICRA), IEEE, pp 10041\u201310047","DOI":"10.1109\/ICRA46639.2022.9812319"},{"key":"601_CR11","doi-asserted-by":"crossref","unstructured":"Pei S, Zheng X, Jiang X, et\u00a0al (2023) Air-ground collaborative mapping based on region matching under terrain constraints. In: 2023 IEEE international conference on unmanned systems (ICUS), IEEE, pp 1399\u20131404","DOI":"10.1109\/ICUS58632.2023.10318453"},{"issue":"6","key":"601_CR12","doi-asserted-by":"publisher","first-page":"9026","DOI":"10.1109\/TAES.2023.3312627","volume":"59","author":"R Wang","year":"2023","unstructured":"Wang R, Wang K, Song W et al (2023) Aerial-ground collaborative continuous risk mapping for autonomous driving of unmanned ground vehicle in off-road environments. IEEE Trans Aerosp Electron Syst 59(6):9026\u20139041","journal-title":"IEEE Trans Aerosp Electron Syst"},{"key":"601_CR13","doi-asserted-by":"crossref","unstructured":"Miller ID, Cladera F, Smith T, et\u00a0al (2024) Air-ground collaboration with SPOMP: Semantic panoramic online mapping and planning. IEEE Trans Field Robot","DOI":"10.1109\/TFR.2024.3424748"},{"key":"601_CR14","doi-asserted-by":"crossref","unstructured":"Tian X, Deng Y, Tang Y, et\u00a0al (2024) Same: ground-air collaborative semantic active mapping and exploration. In: 2024 IEEE international conference on unmanned systems (ICUS), IEEE, pp 1923\u20131930","DOI":"10.1109\/ICUS61736.2024.10839908"},{"issue":"6","key":"601_CR15","doi-asserted-by":"publisher","first-page":"653","DOI":"10.3390\/machines11060653","volume":"11","author":"W Chen","year":"2023","unstructured":"Chen W, Wang X, Gao S et al (2023) Overview of multi-robot collaborative slam from the perspective of data fusion. Machines 11(6):653","journal-title":"Machines"},{"issue":"4","key":"601_CR16","doi-asserted-by":"publisher","first-page":"1156","DOI":"10.3390\/rs15041156","volume":"15","author":"S Zheng","year":"2023","unstructured":"Zheng S, Wang J, Rizos C et al (2023) Simultaneous localization and mapping (SLAM) for autonomous driving: concept and analysis. Remote Sens 15(4):1156","journal-title":"Remote Sens"},{"issue":"6","key":"601_CR17","doi-asserted-by":"publisher","first-page":"1874","DOI":"10.1109\/TRO.2021.3075644","volume":"37","author":"C Campos","year":"2021","unstructured":"Campos C, Elvira R, Rodr\u00edguez JJG et al (2021) Orb-SLAM3: an accurate open-source library for visual, visual-inertial, and multimap slam. IEEE Trans Robot 37(6):1874\u20131890","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"601_CR18","doi-asserted-by":"publisher","first-page":"1408","DOI":"10.1109\/LRA.2021.3140129","volume":"7","author":"L Von Stumberg","year":"2022","unstructured":"Von Stumberg L, Cremers D (2022) DM-VIO: delayed marginalization visual-inertial odometry. IEEE Robot Autom Lett 7(2):1408\u20131415","journal-title":"IEEE Robot Autom Lett"},{"key":"601_CR19","doi-asserted-by":"publisher","first-page":"21160","DOI":"10.1109\/ACCESS.2022.3154086","volume":"10","author":"Z Hu","year":"2022","unstructured":"Hu Z, Zhao J, Luo Y et al (2022) Semantic slam based on improved deeplabv3+ in dynamic scenarios. IEEE Access 10:21160\u201321168","journal-title":"IEEE Access"},{"key":"601_CR20","doi-asserted-by":"crossref","unstructured":"Li Y, Shen H, Fu Y et al (2024) A method of dense point cloud slam based on improved yolov8 and fused with orb-slam3 to cope with dynamic environments. Expert Syst Appl 255:124918","DOI":"10.1016\/j.eswa.2024.124918"},{"key":"601_CR21","doi-asserted-by":"crossref","unstructured":"Yu C, Liu Z, Liu XJ, et\u00a0al (2018) DS-SLAM: a semantic visual slam towards dynamic environments. In: 2018 IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE, pp 1168\u20131174","DOI":"10.1109\/IROS.2018.8593691"},{"issue":"4","key":"601_CR22","doi-asserted-by":"publisher","first-page":"4076","DOI":"10.1109\/LRA.2018.2860039","volume":"3","author":"B Bescos","year":"2018","unstructured":"Bescos B, F\u00e1cil JM, Civera J et al (2018) DYNASLAM: tracking, mapping, and inpainting in dynamic scenes. IEEE Robot Autom Lett 3(4):4076\u20134083","journal-title":"IEEE Robot Autom Lett"},{"key":"601_CR23","doi-asserted-by":"crossref","unstructured":"Qin L, Wu C, Chen Z, et\u00a0al (2024) RSO-SLAM: a robust semantic visual slam with optical flow in complex dynamic environments. IEEE Trans Intell Transp Syst","DOI":"10.1109\/TITS.2024.3402241"},{"issue":"18","key":"601_CR24","doi-asserted-by":"publisher","first-page":"5929","DOI":"10.3390\/s24185929","volume":"24","author":"L He","year":"2024","unstructured":"He L, Li S, Qiu J et al (2024) DIO-SLAM: a dynamic RGB-D slam method combining instance segmentation and optical flow. Sensors 24(18):5929","journal-title":"Sensors"},{"key":"601_CR25","unstructured":"Besl PJ, McKay ND (1992) Method for registration of 3-d shapes. In: Sensor fusion IV: control paradigms and data structures, SPIE, pp 586\u2013606"},{"issue":"3","key":"601_CR26","doi-asserted-by":"publisher","first-page":"130","DOI":"10.24018\/ejeng.2021.6.3.2421","volume":"6","author":"BV Ngo","year":"2021","unstructured":"Ngo BV, Nguyen TH, Vo DD (2021) An MICP algorithm for 3d map reconstruction based on 3D cloud information of landmarks. Eur J Eng Technol Res 6(3):130\u2013138","journal-title":"Eur J Eng Technol Res"},{"key":"601_CR27","first-page":"1","volume":"61","author":"L He","year":"2023","unstructured":"He L, Wang S, Hu Q et al (2023) GFOICP: geometric feature optimized iterative closest point for 3-d point cloud registration. IEEE Trans Geosci Remote Sens 61:1\u201317","journal-title":"IEEE Trans Geosci Remote Sens"},{"key":"601_CR28","doi-asserted-by":"publisher","first-page":"1681","DOI":"10.1109\/TIP.2023.3251021","volume":"32","author":"C Lv","year":"2023","unstructured":"Lv C, Lin W, Zhao B (2023) KSS-ICP: point cloud registration based on Kendall shape space. IEEE Trans Image Process 32:1681\u20131693","journal-title":"IEEE Trans Image Process"},{"issue":"1","key":"601_CR29","doi-asserted-by":"publisher","first-page":"488","DOI":"10.1109\/TASE.2022.3225679","volume":"21","author":"J Zhu","year":"2022","unstructured":"Zhu J, Mu J, Yan CB et al (2022) 3DMNDT: 3D multi-view registration method based on the normal distributions transform. IEEE Trans Autom Sci Eng 21(1):488\u2013501","journal-title":"IEEE Trans Autom Sci Eng"},{"key":"601_CR30","doi-asserted-by":"crossref","unstructured":"Wang Y, Solomon JM (2019) Deep closest point: learning representations for point cloud registration. In: Proceedings of the IEEE\/CVF international conference on computer vision, pp 3523\u20133532","DOI":"10.1109\/ICCV.2019.00362"},{"key":"601_CR31","doi-asserted-by":"crossref","unstructured":"Chen LC, Zhu Y, Papandreou G, et\u00a0al (2018) Encoder\u2013decoder with atrous separable convolution for semantic image segmentation. In: Proceedings of the European conference on computer vision (ECCV), pp 801\u2013818","DOI":"10.1007\/978-3-030-01234-2_49"},{"key":"601_CR32","doi-asserted-by":"crossref","unstructured":"Liang X, Wang H, Luo H, et\u00a0al (2020) Collaborative pursuit-evasion strategy of UAV\/UGV heterogeneous system in complex three-dimensional polygonal environment. Complexity 2020","DOI":"10.1155\/2020\/7498740"},{"issue":"3\u20134","key":"601_CR33","doi-asserted-by":"publisher","first-page":"427","DOI":"10.1177\/0020294019889074","volume":"53","author":"X Liang","year":"2020","unstructured":"Liang X, Chen G, Zhao S et al (2020) Moving target tracking method for unmanned aerial vehicle\/unmanned ground vehicle heterogeneous system based on apriltags. Meas Control 53(3\u20134):427\u2013440","journal-title":"Meas Control"},{"issue":"4","key":"601_CR34","doi-asserted-by":"publisher","first-page":"3879","DOI":"10.1016\/j.asej.2021.04.025","volume":"12","author":"X Liang","year":"2021","unstructured":"Liang X, Zhao S, Chen G et al (2021) Design and development of ground station for UAV\/UGV heterogeneous collaborative system. Ain Shams Eng J 12(4):3879\u20133889","journal-title":"Ain Shams Eng J"},{"key":"601_CR35","doi-asserted-by":"crossref","unstructured":"Geiger A, Roser M, Urtasun R (2010) Efficient large-scale stereo matching. In: Asian conference on computer vision, Springer, pp 25\u201338","DOI":"10.1007\/978-3-642-19315-6_3"},{"key":"601_CR36","unstructured":"Tan M, Le Q (2019) EfficientNet: rethinking model scaling for convolutional neural networks. In: International conference on machine learning, PMLR, pp 6105\u20136114"},{"issue":"6","key":"601_CR37","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"MA Fischler","year":"1981","unstructured":"Fischler MA, Bolles RC (1981) Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun ACM 24(6):381\u2013395","journal-title":"Commun ACM"},{"key":"601_CR38","doi-asserted-by":"crossref","unstructured":"Barath D, Matas J, Noskova J (2019) Magsac: marginalizing sample consensus. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp 10197\u201310205","DOI":"10.1109\/CVPR.2019.01044"},{"key":"601_CR39","first-page":"189","volume":"34","author":"A Hornung","year":"2013","unstructured":"Hornung A, Wurm KM, Bennewitz M et al (2013) OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Autom Robot 34:189\u2013206","journal-title":"Autom Robot"},{"key":"601_CR40","doi-asserted-by":"crossref","unstructured":"Biber P, Stra\u00dfer W (2003) The normal distributions transform: a new approach to laser scan matching. In: Proceedings 2003 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2003)(Cat. No. 03CH37453), IEEE, pp 2743\u20132748","DOI":"10.1109\/IROS.2003.1249285"},{"key":"601_CR41","doi-asserted-by":"crossref","unstructured":"Nigam I, Huang C, Ramanan D (2018) Ensemble knowledge transfer for semantic segmentation. In: 2018 IEEE winter conference on applications of computer vision (WACV), IEEE, pp 1499\u20131508","DOI":"10.1109\/WACV.2018.00168"},{"issue":"11","key":"601_CR42","doi-asserted-by":"publisher","first-page":"1231","DOI":"10.1177\/0278364913491297","volume":"32","author":"A Geiger","year":"2013","unstructured":"Geiger A, Lenz P, Stiller C et al (2013) Vision meets robotics: the Kitti dataset. Int J Robot Res 32(11):1231\u20131237","journal-title":"Int J Robot Res"},{"key":"601_CR43","unstructured":"Turk G (1993) Stanford university computer graphics laboratory. Stanford bunny, point cloud scan data set"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00601-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-025-00601-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00601-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T10:48:48Z","timestamp":1750070928000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-025-00601-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5]]},"references-count":43,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,5]]}},"alternative-id":["601"],"URL":"https:\/\/doi.org\/10.1007\/s11370-025-00601-5","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,5]]},"assertion":[{"value":"22 May 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 April 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 May 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no Conflict of interest. No conflict of interest exits in the submission of this manuscript.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"All the authors listed have approved the manuscript that is enclosed.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Manuscript is approved by all authors for publication.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"I would like to declare on behalf of my co-authors that the work described was original research that has not been published previously, and not under consideration for publication elsewhere, in whole or in part.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}]}}