{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T01:16:43Z","timestamp":1770340603622,"version":"3.49.0"},"reference-count":32,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"12","license":[{"start":{"date-parts":[[2024,12,1]],"date-time":"2024-12-01T00:00:00Z","timestamp":1733011200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,12,1]],"date-time":"2024-12-01T00:00:00Z","timestamp":1733011200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,12,1]],"date-time":"2024-12-01T00:00:00Z","timestamp":1733011200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001321","name":"National Research Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001321","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Medium-Sized Center for Advanced Robotics Technology Innovation"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2024,12]]},"DOI":"10.1109\/lra.2024.3479699","type":"journal-article","created":{"date-parts":[[2024,10,14]],"date-time":"2024-10-14T17:26:50Z","timestamp":1728926810000},"page":"10922-10929","source":"Crossref","is-referenced-by-count":8,"title":["SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-7694-6609","authenticated-orcid":false,"given":"Xingyu","family":"Ji","sequence":"first","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-1887-6342","authenticated-orcid":false,"given":"Shenghai","family":"Yuan","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4813-5126","authenticated-orcid":false,"given":"Jianping","family":"Li","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7470-0736","authenticated-orcid":false,"given":"Pengyu","family":"Yin","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7703-3490","authenticated-orcid":false,"given":"Haozhi","family":"Cao","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7137-4136","authenticated-orcid":false,"given":"Lihua","family":"Xie","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1142\/S230138502150014X"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_21"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062815"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3311671"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3180116"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967573"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3105686"},{"key":"ref8","article-title":"PSS-BA: LiDAR bundle adjustment with progressive spatial smoothing","author":"Li","year":"2024"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197382"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967704"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58604-1_41"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01724"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631318"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560884"},{"key":"ref15","first-page":"280","article-title":"Semantic iterative closest point through expectation-maximization","volume-title":"BMVC","author":"Parkison","year":"2018"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610206"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2717829"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989203"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2856279"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IC-NC.2010.60"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2010.94"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560835"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898719574"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.56021\/9781421407944"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487211"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3335691"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3236571"},{"key":"ref29","article-title":"EVO: Python package for the evaluation of odometry and SLAM","author":"Grupp","year":"2017"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3246390"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3141876"},{"key":"ref32","article-title":"Sam3d: Segment anything in 3 d scenes","author":"Yang","year":"2023"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10726578\/10715566.pdf?arnumber=10715566","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,23]],"date-time":"2024-12-23T19:35:28Z","timestamp":1734982528000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10715566\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12]]},"references-count":32,"journal-issue":{"issue":"12"},"URL":"https:\/\/doi.org\/10.1109\/lra.2024.3479699","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12]]}}}