{"id":"https://openalex.org/W2131781810","doi":null,"title":"Vision-based metric topological SLAM","display_name":"Vision-based metric topological SLAM","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W2131781810","mag":"2131781810"},"language":"en","primary_location":{"id":"mag:3148674884","doi":null,"is_oa":false,"landing_page_url":"http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000006393211","pdf_url":null,"source":{"id":"https://openalex.org/S4363607826","display_name":"International Conference on Control, Automation and Systems (ICCAS)","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":"International Conference on Control, Automation and Systems","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/A5102946685","display_name":"Jihong Min","orcid":"https://orcid.org/0000-0003-4231-0915","observed_orcids":["https://orcid.org/0000-0003-4231-0915"]},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Min","raw_affiliation_strings":["The 5 R&D institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0003-4231-0915","affiliations":[{"raw_affiliation_string":"The 5 R&D institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754797","display_name":"Jungho Kim","orcid":"https://orcid.org/0000-0002-2184-6131","observed_orcids":["https://orcid.org/0000-0002-2184-6131"]},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungho Kim","raw_affiliation_strings":["[Department of Electrical Engineering, KAIST, Daejeon, Korea]"],"raw_orcid":"https://orcid.org/0000-0002-2184-6131","affiliations":[{"raw_affiliation_string":"[Department of Electrical Engineering, KAIST, Daejeon, Korea]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012455275","display_name":"In So Kweon","orcid":"https://orcid.org/0000-0001-9626-5983","observed_orcids":["https://orcid.org/0000-0001-9626-5983"]},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"In So Kweon","raw_affiliation_strings":["[Department of Electrical Engineering, KAIST, Daejeon, Korea]"],"raw_orcid":"https://orcid.org/0000-0001-9626-5983","affiliations":[{"raw_affiliation_string":"[Department of Electrical Engineering, KAIST, Daejeon, Korea]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111936863","display_name":"Yong Woon Park","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong Woon Park","raw_affiliation_strings":["The 5 R&D institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 5 R&D institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2171","last_page":"2176"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.9120000004768372},{"id":"https://openalex.org/keywords/bayesian-filtering","display_name":"Bayesian filtering","score":0.8029999732971191},{"id":"https://openalex.org/keywords/robot-pose-estimation","display_name":"robot pose estimation","score":0.9070000052452087},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"motion estimation","score":0.8220000267028809},{"id":"https://openalex.org/keywords/stereo-vision","display_name":"stereo vision","score":0.7540000081062317}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8702250719070435},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7000195384025574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6967906951904297},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6655910015106201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338424444198608},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4696946144104004},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4553156793117523},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44352370500564575},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2582218647003174},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09036076068878174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06755372881889343},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"mag:3148674884","doi":null,"is_oa":false,"landing_page_url":"http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000006393211","pdf_url":null,"source":{"id":"https://openalex.org/S4363607826","display_name":"International Conference on Control, Automation and Systems (ICCAS)","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":"International Conference on Control, Automation and Systems","raw_type":null},{"id":"mag:2131781810","doi":null,"is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/iel5/6375948/6393028/06393211.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4363607826","display_name":"International Conference on Control, Automation and Systems (ICCAS)","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":"International Conference on Control, Automation and Systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1606157100","https://openalex.org/W1989174032","https://openalex.org/W2085261163","https://openalex.org/W2097012286","https://openalex.org/W2137043637","https://openalex.org/W2151103935","https://openalex.org/W2154202063","https://openalex.org/W2162536300","https://openalex.org/W2237674493","https://openalex.org/W2296147781"],"related_works":["https://openalex.org/W2132395595","https://openalex.org/W7098616135","https://openalex.org/W1673973356","https://openalex.org/W6927142472","https://openalex.org/W7097407703","https://openalex.org/W2144146995","https://openalex.org/W2255817402","https://openalex.org/W376214145","https://openalex.org/W2097385566","https://openalex.org/W2131497551"],"abstract_inverted_index":{"In":[0],"this":[1,90],"paper,":[2],"we":[3,45],"present":[4],"a":[5,32,47,70,105],"vision-based":[6,51],"metric/topological":[7,22],"approach":[8,103],"for":[9,50],"the":[10,27,56,61,76,83,98,101],"Simultaneous":[11],"Localization":[12],"and":[13,38,60,88],"Mapping":[14],"(SLAM)":[15],"problem.":[16],"Similar":[17],"to":[18,81,92],"recent":[19],"works":[20],"on":[21],"SLAM":[23,53,94],"(MT":[24],"SLAM)":[25],"where":[26],"map":[28,62],"is":[29],"represented":[30],"as":[31],"graph":[33],"whose":[34],"nodes":[35],"are":[36,40],"submaps":[37],"edges":[39],"relative":[41],"transformations":[42],"between":[43],"submaps,":[44],"propose":[46,69],"graphical":[48],"model":[49],"MT":[52],"that":[54,74],"estimates":[55],"hybrid":[57],"robot":[58],"pose":[59],"by":[63],"using":[64,104],"Bayesian":[65],"filtering.":[66],"We":[67,96],"also":[68],"motion":[71,86],"estimation":[72,87],"method":[73,91],"incorporates":[75],"uncertainties":[77],"of":[78,85,100],"3D":[79],"landmarks":[80],"improve":[82],"accuracy":[84],"apply":[89],"our":[93],"approach.":[95],"demonstrate":[97],"performance":[99],"proposed":[102],"stereo":[106],"camera.":[107]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}