{"id":"https://openalex.org/W186096846","doi":null,"title":"Topological mapping for mobile robots using a combination of sonar and vision sensing","display_name":"Topological mapping for mobile robots using a combination of sonar and vision sensing","publication_year":1994,"publication_date":"1994-10-05","ids":{"openalex":"https://openalex.org/W186096846","mag":"186096846"},"language":"en","primary_location":{"id":"mag:186096846","doi":null,"is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/aaai/aaai94-2.html#KortenkampW94","pdf_url":null,"source":{"id":"https://openalex.org/S4306420577","display_name":"National Conference on Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"National Conference on Artificial Intelligence","raw_type":null},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068285104","display_name":"David M. Kortenkamp","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Kortenkamp","raw_affiliation_strings":["Artificial Intelligence Laboratory, The University of Michigan, Ann Arbor, MI and MITRE Corporation, Houston, TX#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, The University of Michigan, Ann Arbor, MI and MITRE Corporation, Houston, TX#TAB#","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076809103","display_name":"Terry E. Weymouth","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Terry E. Weymouth","raw_affiliation_strings":["Artificial Intelligence Laboratory, The University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, The University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":13.4525,"has_fulltext":false,"cited_by_count":267,"citation_normalized_percentile":{"value":0.98825435,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"979","last_page":"984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/topological-mapping","display_name":"topological mapping","score":0.9660000205039978},{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.8830000162124634},{"id":"https://openalex.org/keywords/place-recognition","display_name":"place recognition","score":0.8149999976158142},{"id":"https://openalex.org/keywords/sonar-sensing","display_name":"sonar sensing","score":0.8529999852180481},{"id":"https://openalex.org/keywords/vision-based-sensing","display_name":"visual sensing","score":0.9089999794960022},{"id":"https://openalex.org/keywords/multimodal-sensor-fusion","display_name":"multimodal sensor fusion","score":0.7649999856948853},{"id":"https://openalex.org/keywords/bayesian-networks","display_name":"Bayesian networks","score":0.906000018119812},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.39100000262260437}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.9092055559158325},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6793978810310364},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6753852367401123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6737931370735168},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5968053936958313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5742616653442383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5010108947753906},{"id":"https://openalex.org/C2776477805","wikidata":"https://www.wikidata.org/wiki/Q4460773","display_name":"Topological data analysis","level":2,"score":0.42636430263519287},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4252049922943115},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3780764937400818},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14715149998664856},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11752581596374512},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:186096846","doi":null,"is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/aaai/aaai94-2.html#KortenkampW94","pdf_url":null,"source":{"id":"https://openalex.org/S4306420577","display_name":"National Conference on Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"National Conference on Artificial Intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1511949525","https://openalex.org/W1592734299","https://openalex.org/W1794510385","https://openalex.org/W1970196499","https://openalex.org/W1978289112","https://openalex.org/W1985397417","https://openalex.org/W2059039791","https://openalex.org/W2087277648","https://openalex.org/W2113030042","https://openalex.org/W2159080219","https://openalex.org/W2159559433","https://openalex.org/W2162197665","https://openalex.org/W2175461383","https://openalex.org/W2471733085","https://openalex.org/W2613501150","https://openalex.org/W3201185682"],"related_works":["https://openalex.org/W2612613117","https://openalex.org/W7097262687","https://openalex.org/W2333334228","https://openalex.org/W31715642","https://openalex.org/W2030660323","https://openalex.org/W2042704273","https://openalex.org/W2167046937","https://openalex.org/W2183246121","https://openalex.org/W7071061622","https://openalex.org/W2527093588"],"abstract_inverted_index":{"Topological":[0],"maps":[1,33],"represent":[2,23],"the":[3,12,18,21,89,150],"world":[4],"as":[5,148],"a":[6,78,120,144],"network":[7],"of":[8,81,146],"nodes":[9,13],"and":[10,20,61,99],"arcs:":[11],"are":[14,57],"distinctive":[15,36,52,73,82],"places":[16,83],"in":[17,30,41,59,126],"environment":[19],"arcs":[22],"paths":[24],"between":[25,71],"places.":[26,37,53,74],"A":[27],"significant":[28],"issue":[29],"building":[31],"topological":[32,42],"is":[34,117,133,149],"defining":[35],"Most":[38],"previous":[39],"work":[40],"mapping":[43],"has":[44],"concentrated":[45],"on":[46],"using":[47,119],"sonar":[48,55,91],"sensors":[49,56,92],"to":[50,69,93,96,106,135,141],"define":[51],"However,":[54],"limited":[58],"range":[60],"angular":[62],"resolution,":[63],"which":[64],"can":[65],"make":[66],"it":[67],"difficult":[68],"distinguish":[70],"different":[72],"Our":[75],"approach":[76],"combines":[77],"sonar-based":[79],"definition":[80],"with":[84,152],"visual":[85],"information.":[86],"We":[87],"use":[88,100],"robot's":[90],"determine":[94],"where":[95],"capture":[97],"images":[98,105],"cues":[101],"extracted":[102],"from":[103,112],"those":[104],"help":[107],"perform":[108,136],"place":[109,137],"recognition.":[110],"Information":[111],"these":[113],"two":[114],"sensing":[115],"modalities":[116],"combined":[118],"simple":[121],"Bayesian":[122],"network.":[123],"Results":[124],"described":[125],"this":[127],"paper":[128],"show":[129],"that":[130],"our":[131],"robot":[132],"able":[134],"recognition":[138],"without":[139],"having":[140],"move":[142],"through":[143],"sequence":[145],"places,":[147],"case":[151],"most":[153],"currently":[154],"implemented":[155],"systems.":[156]},"counts_by_year":[{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":8}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}