{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,27]],"date-time":"2025-05-27T07:10:37Z","timestamp":1748329837685,"version":"3.40.5"},"reference-count":27,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"fundamental research funds for the central universities","doi-asserted-by":"publisher","award":["No.19CX05003A-9, 19CX05003A-4 and 18CX02136A"],"award-info":[{"award-number":["No.19CX05003A-9, 19CX05003A-4 and 18CX02136A"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014103","name":"key technology research and development program of shandong","doi-asserted-by":"publisher","award":["No. 2019GGX101048"],"award-info":[{"award-number":["No. 2019GGX101048"]}],"id":[{"id":"10.13039\/100014103","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 61902431, 91938204 and 61972417"],"award-info":[{"award-number":["No. 61902431, 91938204 and 61972417"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Distributed Sensor Networks"],"published-print":{"date-parts":[[2021,4]]},"abstract":"<jats:p> In the past decades, emerging technologies such as unmanned driving and indoor navigation have developed rapidly, and simultaneous localization and mapping has played unparalleled roles as core technologies. However, dynamic objects in complex environments will affect the positioning accuracy. In order to reduce the influence of dynamic objects, this article proposes an improved simultaneous localization and mapping algorithm combined with semantic segmentation model. First, in the pre-processing stage, in order to reduce the influence of dynamic features, fully convolutional network model is used to find the dynamic object, and then the output image is masked and fused to obtain the final image without dynamic object features. Second, in the feature-processing stage, three parts are improved to reduce the computing complexity, which are extracting, matching, and eliminating mismatching feature points. Experiments show that the absolute trajectory accuracy in high dynamic scene is improved by 48.58% on average. Meanwhile, the average processing time is also reduced by 21.84%. <\/jats:p>","DOI":"10.1177\/15501477211014131","type":"journal-article","created":{"date-parts":[[2021,4,29]],"date-time":"2021-04-29T12:50:30Z","timestamp":1619700630000},"page":"155014772110141","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Improved simultaneous localization and mapping algorithm combined with semantic segmentation model"],"prefix":"10.1177","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2326-9518","authenticated-orcid":false,"given":"Xuerong","family":"Cui","sequence":"first","affiliation":[{"name":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China"}]},{"given":"Shengjie","family":"Xue","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, China University of Petroleum (East China), Qingdao, China"}]},{"given":"Juan","family":"Li","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, China University of Petroleum (East China), Qingdao, China"}]},{"given":"Shibao","family":"Li","sequence":"additional","affiliation":[{"name":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China"}]},{"given":"Jianhang","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, China University of Petroleum (East China), Qingdao, China"}]},{"given":"Haihua","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, 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