ALEXANDRIA, Va., Sept. 15 -- United States Patent no. 12,737,976, issued on Sept. 15, was assigned to Tongji University (Shanghai).

"Method for constructing structural semantic map under underground weak-light and low-texture environment" was invented by Bin He (Shanghai), Gang Li (Shanghai), Feng Li (Shanghai), Yulong Ding (Shanghai), Bin Cheng (Shanghai), Zhongpan Zhu (Shanghai) and Zhipeng Wang (Shanghai).

According to the abstract* released by the U.S. Patent & Trademark Office: "A method for constructing a structural semantic map under an underground weak-light and low-texture environment is provided. The method includes: fusing traditional methods with a parameter line detection and verification model of structural semantics of a Tr...