{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T18:23:15Z","timestamp":1771698195786,"version":"3.50.1"},"reference-count":92,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973066"],"award-info":[{"award-number":["61973066"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Major Science and Technology Projects of Liaoning Province","award":["2021JH1\/10400049"],"award-info":[{"award-number":["2021JH1\/10400049"]}]},{"name":"Fundation of Key Laboratory of Aerospace System Simulation","award":["6142002200301"],"award-info":[{"award-number":["6142002200301"]}]},{"name":"Fundation of Key Laboratory of Equipment Reliability","award":["WD2C20205500306"],"award-info":[{"award-number":["WD2C20205500306"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["N2004022"],"award-info":[{"award-number":["N2004022"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1109\/tro.2023.3273180","type":"journal-article","created":{"date-parts":[[2023,5,17]],"date-time":"2023-05-17T13:41:13Z","timestamp":1684330873000},"page":"2912-2932","source":"Crossref","is-referenced-by-count":45,"title":["An Object SLAM Framework for Association, Mapping, and High-Level Tasks"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3926-4500","authenticated-orcid":false,"given":"Yanmin","family":"Wu","sequence":"first","affiliation":[{"name":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0610-3732","authenticated-orcid":false,"given":"Yunzhou","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1143-7860","authenticated-orcid":false,"given":"Delong","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Chinese University of Hong Kong, Hong Kong"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6068-852X","authenticated-orcid":false,"given":"Zhiqiang","family":"Deng","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4463-0288","authenticated-orcid":false,"given":"Wenkai","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"}]},{"given":"Xin","family":"Chen","sequence":"additional","affiliation":[{"name":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5486-3125","authenticated-orcid":false,"given":"Jian","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University, Shenzhen, China"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759677"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793680"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593541"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2021.103072"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2923960"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.003"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206392"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196830"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21854"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2820722"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3058935"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196885"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2801879"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.178"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561697"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58520-4_34"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-50115-4_63"},{"key":"ref92","article-title":"ROS: An open-source robot operating system","author":"quigley","year":"0","journal-title":"Proc ICRA Workshop Open Source Softw"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636034"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196886"},{"key":"ref91","article-title":"Boosting 3D object detection via object-focused image fusion","author":"yang","year":"2022"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01187"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3190622"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561546"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00743"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3097242"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2018.00024"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2019.2932216"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00346"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794299"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21917"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00025"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00275"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2021.3074954"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00294"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2022.3224512"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989538"},{"key":"ref7","article-title":"Viral SLAM: Tightly coupled Camera-IMU-UWB-lidar SLAM","author":"nguyen","year":"2021"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202212"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562030"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2875382"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3133730"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341716"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2018.8546158"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00596"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793805"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01111"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907298"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794344"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.377"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794475"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01189-x"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00594"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.013"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2018.00015"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793624"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759446"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981545"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/3DV53792.2021.00143"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1002\/j.1538-7305.1948.tb01338.x"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3061403"},{"key":"ref1","article-title":"FutureMapping: The computational structure of spatial AI systems","author":"davison","year":"2018"},{"key":"ref39","article-title":"Descriptellation: Deep learned constellation descriptors for SLAM","author":"xing","year":"2022"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01448"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.5201\/ipol.2012.gjmr-lsd"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1145\/2133360.2133363"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139864"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1145\/800157.805047"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2909168"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2924848"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/3DV50981.2020.00105"},{"key":"ref67","author":"lehmann","year":"1975","journal-title":"Nonparametrics Statistical Methods Based on Ranks"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341757"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2866205"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01074-2"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989203"},{"key":"ref64","article-title":"YOLOv3: An incremental improvement","author":"redmon","year":"2018"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035001"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1145\/3293353.3293434"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1097\/00005053-195707000-00032"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460816"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-4380-9_16"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3136918"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/3DV53792.2021.00144"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-021-01513-4"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2923368"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01455"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1007\/s11554-013-0386-6"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10214173\/10128836.pdf?arnumber=10128836","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T17:55:25Z","timestamp":1759859725000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10128836\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":92,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3273180","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]}}}