{"id":"https://openalex.org/W2976881356","doi":"https://doi.org/10.1007/s11263-019-01239-4","title":"SeDAR: Reading Floorplans Like a Human\u2014Using Deep Learning to Enable Human-Inspired Localisation","display_name":"SeDAR: Reading Floorplans Like a Human\u2014Using Deep Learning to Enable Human-Inspired Localisation","publication_year":2019,"publication_date":"2019-09-28","ids":{"openalex":"https://openalex.org/W2976881356","doi":"https://doi.org/10.1007/s11263-019-01239-4","mag":"2976881356"},"language":"en","primary_location":{"id":"doi:10.1007/s11263-019-01239-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-019-01239-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-019-01239-4.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11263-019-01239-4.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033644268","display_name":"Oscar M\u00e9ndez","orcid":"https://orcid.org/0000-0003-4904-4349"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Oscar Mendez","raw_affiliation_strings":["University of Surrey, Guildford, Surrey, UK"],"affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091184063","display_name":"Simon Hadfield","orcid":"https://orcid.org/0000-0001-8637-5054"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Hadfield","raw_affiliation_strings":["University of Surrey, Guildford, Surrey, UK"],"affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087140377","display_name":"Nicolas Pugeault","orcid":"https://orcid.org/0000-0002-3455-6280"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicolas Pugeault","raw_affiliation_strings":["University of Exeter, Exeter, Devon, UK"],"affiliations":[{"raw_affiliation_string":"University of Exeter, Exeter, Devon, UK","institution_ids":["https://openalex.org/I23923803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044490167","display_name":"Richard Bowden","orcid":"https://orcid.org/0000-0003-3285-8020"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard Bowden","raw_affiliation_strings":["University of Surrey, Guildford, Surrey, UK"],"affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033644268"],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":7.3518,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97113017,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"128","issue":"5","first_page":"1286","last_page":"1310"},"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/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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/2202","display_name":"Aerospace 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987000226974487,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9962000250816345,"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/computer-science","display_name":"Computer science","score":0.7765003442764282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7061997056007385},{"id":"https://openalex.org/keywords/floorplan","display_name":"Floorplan","score":0.6802921295166016},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6511629223823547},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6296505331993103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5638540983200073},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5484519600868225},{"id":"https://openalex.org/keywords/semantic-memory","display_name":"Semantic memory","score":0.47138887643814087},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.43286460638046265},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42157506942749023},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3538273572921753},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3362672030925751}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7765003442764282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7061997056007385},{"id":"https://openalex.org/C130145326","wikidata":"https://www.wikidata.org/wiki/Q1553985","display_name":"Floorplan","level":2,"score":0.6802921295166016},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6511629223823547},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6296505331993103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5638540983200073},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5484519600868225},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.47138887643814087},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.43286460638046265},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42157506942749023},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3538273572921753},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3362672030925751},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s11263-019-01239-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-019-01239-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-019-01239-4.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},{"id":"pmh:oai:ore.exeter.ac.uk:10871/39402","is_oa":true,"landing_page_url":"http://hdl.handle.net/10871/39402","pdf_url":null,"source":{"id":"https://openalex.org/S4306401998","display_name":"Open Research Exeter (University of Exeter)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I23923803","host_organization_name":"University of Exeter","host_organization_lineage":["https://openalex.org/I23923803"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:eprints.gla.ac.uk:218210","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Articles"}],"best_oa_location":{"id":"doi:10.1007/s11263-019-01239-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-019-01239-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-019-01239-4.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G2703207939","display_name":"Autonomous Valet Parking","funder_award_id":"104273","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"},{"id":"https://openalex.org/G3429114638","display_name":null,"funder_award_id":"EP/R512217/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3634878050","display_name":null,"funder_award_id":"EP/R512217/1","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"},{"id":"https://openalex.org/G3637095654","display_name":null,"funder_award_id":"EP/R03298X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4466388606","display_name":null,"funder_award_id":"NVIDIA","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4732936841","display_name":"ExTOL: End to End Translation of British Sign Language","funder_award_id":"EP/R03298X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5442718155","display_name":null,"funder_award_id":"EP/R512217","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7352981995","display_name":null,"funder_award_id":"EP/R03298X/1","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320335087","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2976881356.pdf","grobid_xml":"https://content.openalex.org/works/W2976881356.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1194821912","https://openalex.org/W1577509784","https://openalex.org/W1612997784","https://openalex.org/W1898543992","https://openalex.org/W1964318763","https://openalex.org/W1968034339","https://openalex.org/W1985238052","https://openalex.org/W1989476314","https://openalex.org/W1989976536","https://openalex.org/W1990012555","https://openalex.org/W1993267444","https://openalex.org/W2021851106","https://openalex.org/W2069537876","https://openalex.org/W2101805040","https://openalex.org/W2103328396","https://openalex.org/W2112734135","https://openalex.org/W2112793821","https://openalex.org/W2129404737","https://openalex.org/W2130422193","https://openalex.org/W2131865378","https://openalex.org/W2140599684","https://openalex.org/W2159477781","https://openalex.org/W2160584648","https://openalex.org/W2163446794","https://openalex.org/W2200124539","https://openalex.org/W2201290997","https://openalex.org/W2203676611","https://openalex.org/W2205172244","https://openalex.org/W2212334805","https://openalex.org/W2336416123","https://openalex.org/W2336961836","https://openalex.org/W2395611524","https://openalex.org/W2515549565","https://openalex.org/W2520369361","https://openalex.org/W2535547924","https://openalex.org/W2547308682","https://openalex.org/W2567328166","https://openalex.org/W2584731199","https://openalex.org/W2611944936","https://openalex.org/W2728498859","https://openalex.org/W2739572770","https://openalex.org/W2743017046","https://openalex.org/W2767756217","https://openalex.org/W2770176163","https://openalex.org/W2772641132","https://openalex.org/W2888144883","https://openalex.org/W2962689474","https://openalex.org/W2963591054","https://openalex.org/W2963881378","https://openalex.org/W2966329817","https://openalex.org/W2973689592","https://openalex.org/W3002424897","https://openalex.org/W3039274615","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3105489439"],"related_works":["https://openalex.org/W4312200629","https://openalex.org/W4223943233","https://openalex.org/W4309045103","https://openalex.org/W4225161397","https://openalex.org/W3014300295","https://openalex.org/W2797862905","https://openalex.org/W2964248288","https://openalex.org/W4299487748","https://openalex.org/W3164822677","https://openalex.org/W2950486056"],"abstract_inverted_index":{"Abstract":[0],"The":[1],"use":[2,59,169,229],"of":[3,43,60,74,98,130,138],"human-level":[4,48],"semantic":[5,37,41,61,96,131,176,198,210],"information":[6,62,118,177],"to":[7,50,63,84,115,146,159,163,168,208,218,228,246],"aid":[8,64,90],"robotic":[9],"tasks":[10],"has":[11,24,46,69,152],"recently":[12],"become":[13],"an":[14],"important":[15],"area":[16],"for":[17,188,221],"both":[18,75],"Computer":[19],"Vision":[20],"and":[21,35,67],"Robotics.":[22],"This":[23,122],"been":[25,70,154],"enabled":[26,190],"by":[27,120],"advances":[28],"in":[29,65,109,148,201],"Deep":[30,204],"Learning":[31,205],"that":[32,141,151,172,236],"allow":[33],"consistent":[34],"robust":[36],"understanding.":[38],"Leveraging":[39],"this":[40,139,161,181],"vision":[42],"the":[44,58,72,82,116,128,174,197,202,219],"world":[45],"allowed":[47],"understanding":[49],"naturally":[51],"emerge":[52],"from":[53,212],"many":[54],"different":[55],"approaches.":[56],"Particularly,":[57],"localisation":[66,170],"reconstruction":[68],"at":[71,107],"forefront":[73],"fields.":[76],"Like":[77],"robots,":[78,164],"humans":[79,92,142,178],"also":[80],"require":[81],"ability":[83,162],"localise":[85,147],"within":[86],"a":[87,149,185],"structure.":[88],"To":[89],"this,":[91],"have":[93],"designed":[94],"high-level":[95],"maps":[97],"our":[99,224],"structures":[100],"called":[101],"floorplans.":[102],"We":[103],"are":[104,143,216,238],"extremely":[105],"good":[106],"localising":[108],"them,":[110],"even":[111],"with":[112],"limited":[113],"access":[114],"depth":[117],"used":[119],"robots.":[121],"is":[123,140,166,206,226],"because":[124],"we":[125,183,234,241],"focus":[126],"on":[127,196],"distribution":[129],"elements,":[132],"rather":[133],"than":[134],"geometric":[135],"ones.":[136],"Evidence":[137],"normally":[144],"able":[145,227],"floorplan":[150,220],"not":[153],"scaled":[155],"properly.":[156],"In":[157,180],"order":[158],"grant":[160],"it":[165],"necessary":[167],"approaches":[171],"leverage":[173],"same":[175],"use.":[179],"paper,":[182],"present":[184,200],"novel":[186],"method":[187],"semantically":[189],"global":[191],"localisation.":[192,222],"Our":[193],"approach":[194,225],"relies":[195],"labels":[199,211],"floorplan.":[203],"leveraged":[207],"extract":[209],"RGB":[213],"images,":[214],"which":[215],"compared":[217],"While":[223],"range":[230],"measurements":[231],"if":[232],"available,":[233],"demonstrate":[235],"they":[237],"unnecessary":[239],"as":[240],"can":[242],"achieve":[243],"results":[244],"comparable":[245],"state-of-the-art":[247],"without":[248],"them.":[249]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
