{"id":"https://openalex.org/W2097406002","doi":"https://doi.org/10.1017/s0263574706003237","title":"Object detection and mapping for service robot tasks","display_name":"Object detection and mapping for service robot tasks","publication_year":2007,"publication_date":"2007-03-01","ids":{"openalex":"https://openalex.org/W2097406002","doi":"https://doi.org/10.1017/s0263574706003237","mag":"2097406002"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574706003237","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706003237","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5071633047","display_name":"Staffan Ekvall","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Staffan Ekvall","raw_affiliation_strings":["Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Vision and Active Perception Laboratory, Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computational vision and active perception laboratory, centre for autonomous systems, royal institute of technology, stockholm, sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5071633047"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":247.2212,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.99957995,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"25","issue":"2","first_page":"175","last_page":"187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7909483909606934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7337098121643066},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7322525978088379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7162532806396484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6839579343795776},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6611039638519287},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6524771451950073},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5760054588317871},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5429421067237854},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.5424253940582275},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5125555992126465},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4955195188522339},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4886668026447296},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4370725154876709},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.4332839846611023},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.2488943338394165},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20127972960472107},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.10454568266868591},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.073214590549469}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7909483909606934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7337098121643066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7322525978088379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7162532806396484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6839579343795776},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6611039638519287},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6524771451950073},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5760054588317871},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5429421067237854},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.5424253940582275},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5125555992126465},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4955195188522339},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4886668026447296},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4370725154876709},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.4332839846611023},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2488943338394165},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20127972960472107},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.10454568266868591},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.073214590549469},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574706003237","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706003237","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.169.4211","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.169.4211","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/%7Epatric/publications/2006_ROBOTICA_ejka.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.216.4145","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.216.4145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/~danik/Papers/2007_ROBOTICA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W13288303","https://openalex.org/W370143576","https://openalex.org/W1499031883","https://openalex.org/W1513966746","https://openalex.org/W1606157100","https://openalex.org/W1989166580","https://openalex.org/W2048112367","https://openalex.org/W2048239613","https://openalex.org/W2049207102","https://openalex.org/W2064406997","https://openalex.org/W2085207288","https://openalex.org/W2097476943","https://openalex.org/W2097832540","https://openalex.org/W2111371393","https://openalex.org/W2117892041","https://openalex.org/W2123977795","https://openalex.org/W2127067328","https://openalex.org/W2127218421","https://openalex.org/W2129744044","https://openalex.org/W2130917470","https://openalex.org/W2134102979","https://openalex.org/W2135972998","https://openalex.org/W2138486893","https://openalex.org/W2151180526","https://openalex.org/W2155193497","https://openalex.org/W2156749665","https://openalex.org/W2158413333","https://openalex.org/W2162788266","https://openalex.org/W2170258525","https://openalex.org/W2171053814","https://openalex.org/W2173782939","https://openalex.org/W2582998992","https://openalex.org/W2913447261","https://openalex.org/W2913703059","https://openalex.org/W2914885528","https://openalex.org/W4236844765","https://openalex.org/W4238857822"],"related_works":["https://openalex.org/W4317438546","https://openalex.org/W1501279479","https://openalex.org/W2089183551","https://openalex.org/W3041020613","https://openalex.org/W1991295132","https://openalex.org/W3004140625","https://openalex.org/W2906243600","https://openalex.org/W2769842592","https://openalex.org/W2097406002","https://openalex.org/W2998936481"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,145,174],"problem":[2],"studied":[3],"in":[4,14,29,41,56,76,94,160,166,221],"this":[5,46,151,187],"paper":[6],"is":[7,147,177],"a":[8,15,19,77,82,98,197,201],"mobile":[9],"robot":[10,34,79,194],"that":[11,120,157],"autonomously":[12],"navigates":[13],"domestic":[16],"environment,":[17],"builds":[18],"map":[20,168,176,209],"as":[21,141],"it":[22,105],"moves":[23],"along":[24],"and":[25,44,73,85,88,143,163,211],"localizes":[26],"its":[27],"position":[28,40],"it.":[30],"In":[31,186],"addition,":[32],"the":[33,42,48,54,57,65,69,102,112,126,148,161,167,171,189,193,206,216],"detects":[35,158],"predefined":[36],"objects,":[37],"estimates":[38],"their":[39],"environment":[43,103,162],"integrates":[45],"with":[47,109,153],"localization":[49,84],"module":[50],"to":[51,96,184,195],"automatically":[52],"put":[53],"objects":[55,159],"generated":[58,169],"map.":[59],"Thus,":[60],"we":[61],"demonstrate":[62],"one":[63],"of":[64,71,101,111,138,150,208,215],"possible":[66,108],"strategies":[67],"for":[68,124],"integration":[70],"spatial":[72],"semantic":[74],"knowledge":[75],"service":[78],"scenario":[80],"where":[81],"simultaneous":[83],"mapping":[86],"(SLAM)":[87],"object":[89,199,217],"detection":[90,218],"recognition":[91],"system":[92,156],"work":[93],"synergy":[95],"provide":[97],"richer":[99],"representation":[100],"than":[104],"would":[106],"be":[107],"either":[110],"methods":[113],"alone.":[114],"Most":[115],"SLAM":[116,172],"systems":[117],"build":[118],"maps":[119,129],"are":[121,130],"only":[122],"used":[123],"localizing":[125],"robot.":[127],"Such":[128],"typically":[131],"based":[132],"on":[133],"grids":[134],"or":[135],"different":[136],"types":[137],"features":[139],"such":[140],"point":[142],"lines.":[144],"novelty":[146],"augmentation":[149],"process":[152],"an":[154,212,222],"object-recognition":[155],"puts":[164],"them":[165],"by":[170],"system.":[173],"metric":[175],"also":[178],"split":[179],"into":[180],"topological":[181],"entities":[182],"corresponding":[183],"rooms.":[185],"way,":[188],"user":[190],"can":[191],"command":[192],"retrieve":[196],"certain":[198,202],"from":[200],"room.":[203],"We":[204],"present":[205],"results":[207],"building":[210],"extensive":[213],"evaluation":[214],"algorithm":[219],"performed":[220],"indoor":[223],"setting.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
