{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T20:15:54Z","timestamp":1784319354740,"version":"3.55.0"},"reference-count":41,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967704","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"4530-4537","source":"Crossref","is-referenced-by-count":497,"title":["SuMa++: Efficient LiDAR-based Semantic SLAM"],"prefix":"10.1109","author":[{"given":"Xieyuanli","family":"Chen","sequence":"first","affiliation":[{"name":"University of Bonn,Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andres","family":"Milioto","sequence":"additional","affiliation":[{"name":"University of Bonn,Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emanuele","family":"Palazzolo","sequence":"additional","affiliation":[{"name":"University of Bonn,Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Philippe","family":"Gigu\u00e8re","sequence":"additional","affiliation":[{"name":"Laval University,Qu&#x00E9;bec,Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jens","family":"Behley","sequence":"additional","affiliation":[{"name":"University of Bonn,Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cyrill","family":"Stachniss","sequence":"additional","affiliation":[{"name":"University of Bonn,Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593691"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202212"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7138983"},{"key":"ref32","author":"thrun","year":"2005","journal-title":"Probabilistic Robotics"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.695"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206392"},{"key":"ref37","article-title":"Automatic Extraction of Moving Objects from Image and LIDAR Sequences","author":"yan","year":"2014","journal-title":"Proc IEEE Int Conf 3D Vis (3DV)"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462926"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202222"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2512936"},{"key":"ref10","article-title":"Visual slam with network uncertainty informed feature selection","author":"ganti","year":"2018","journal-title":"ArXiv Preprint"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2848308"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2018.03.051"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.3390\/s18082571"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631026"},{"key":"ref15","article-title":"Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving","author":"li","year":"2018","journal-title":"Eur Conf Comput Vis (ECCV)"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.684"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01270-0_39"},{"key":"ref18","first-page":"234","article-title":"VSO: Visual Semantic Odometry","author":"lianos","year":"2018","journal-title":"Eur Conf Comput Vis (ECCV)"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2018.00015"},{"key":"ref28","article-title":"Springer Handbook of Robotics","author":"stachniss","year":"2016","journal-title":"Simultaneous Localization and Mapping[D]"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989203"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.178"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2860039"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2749181"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2856268"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593828"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460653"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","article-title":"Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age","volume":"32","author":"cadena","year":"2016","journal-title":"IEEE Trans on Robotics (TRO)"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.016"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.003"},{"key":"ref1","article-title":"SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences","author":"behley","year":"2019","journal-title":"Proc of the IEEE\/CVF International Conf on Computer Vision (ICCV)"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989538"},{"key":"ref22","article-title":"ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals","author":"palazzolo","year":"2019","journal-title":"Proc of the IEEE\/RSJ Intl Conf on Intelligent Robots and Systems (IROS)"},{"key":"ref21","article-title":"RangeNet ++: Fast and Accurate LiDAR Semantic Segmentation","author":"milioto","year":"2019","journal-title":"Proc of the IEEE\/RSJ Intl Conf on Intelligent Robots and Systems (IROS)"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907397"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9548-2"},{"key":"ref23","first-page":"280","article-title":"Semantic Iterative Closest Point through Expectation-Maximization","author":"parkison","year":"2018","journal-title":"Proc of British Machine Vision Conference (BMVC)"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2018.00024"},{"key":"ref25","article-title":"YOLOv3: An Incremental Improvement","author":"redmon","year":"2018","journal-title":"ArXiv Preprint"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967704.pdf?arnumber=8967704","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,25]],"date-time":"2025-08-25T20:36:23Z","timestamp":1756154183000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967704\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":41,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967704","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}