{"id":"https://openalex.org/W2945290121","doi":"https://doi.org/10.1017/s0263574719000584","title":"Robust Semantic Mapping in Challenging Environments","display_name":"Robust Semantic Mapping in Challenging Environments","publication_year":2019,"publication_date":"2019-05-21","ids":{"openalex":"https://openalex.org/W2945290121","doi":"https://doi.org/10.1017/s0263574719000584","mag":"2945290121"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000584","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000584","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/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jiyu Cheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039935452","display_name":"Yuxiang Sun","orcid":"https://orcid.org/0000-0002-7704-0559"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuxiang Sun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015250843"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9339,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.97116243,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"38","issue":"2","first_page":"256","last_page":"270"},"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.7929847836494446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6942698955535889},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6148852705955505},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5816553831100464},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.530199408531189},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4830349385738373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4615068733692169},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4328470528125763},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3786022365093231}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7929847836494446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6942698955535889},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6148852705955505},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5816553831100464},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.530199408531189},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4830349385738373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4615068733692169},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4328470528125763},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3786022365093231}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574719000584","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000584","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:repository.hkust.edu.hk:1783.1-97494","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-97494","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-97494","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85065966414&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1903029394","https://openalex.org/W1923184257","https://openalex.org/W1985238052","https://openalex.org/W2021851106","https://openalex.org/W2025650452","https://openalex.org/W2033979122","https://openalex.org/W2035379092","https://openalex.org/W2064451896","https://openalex.org/W2076917298","https://openalex.org/W2085411191","https://openalex.org/W2097696373","https://openalex.org/W2109635530","https://openalex.org/W2111073598","https://openalex.org/W2124313187","https://openalex.org/W2124592697","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2229637417","https://openalex.org/W2248805773","https://openalex.org/W2250172176","https://openalex.org/W2411412724","https://openalex.org/W2529254295","https://openalex.org/W2535547924","https://openalex.org/W2556215627","https://openalex.org/W2563685048","https://openalex.org/W2735010494","https://openalex.org/W2737953495","https://openalex.org/W2739423245","https://openalex.org/W2753226480","https://openalex.org/W2759784938","https://openalex.org/W2794034956","https://openalex.org/W2809222802","https://openalex.org/W2884608476","https://openalex.org/W2891234582","https://openalex.org/W2911873662","https://openalex.org/W2920980026","https://openalex.org/W2921749009","https://openalex.org/W2921991632","https://openalex.org/W2963032934","https://openalex.org/W2963037989","https://openalex.org/W2963357556","https://openalex.org/W3102327032","https://openalex.org/W4234750310","https://openalex.org/W4236965008","https://openalex.org/W4246614213","https://openalex.org/W4301409532"],"related_works":["https://openalex.org/W1750372561","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W1501082329","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344"],"abstract_inverted_index":{"Summary":[0],"Visual":[1],"simultaneous":[2],"localization":[3],"and":[4,22,70,120,130],"mapping":[5],"(visual":[6],"SLAM)":[7],"has":[8],"been":[9],"well":[10],"developed":[11],"in":[12,107,115],"recent":[13,48],"decades.":[14],"To":[15,41],"facilitate":[16],"tasks":[17],"such":[18,98],"as":[19],"path":[20],"planning":[21],"exploration,":[23],"traditional":[24],"visual":[25,60],"SLAM":[26,61],"systems":[27],"usually":[28],"provide":[29],"mobile":[30],"robots":[31],"with":[32,58,94],"the":[33,38,47,51,59,68,77,95,116,128,134],"geometric":[34,69],"map,":[35],"which":[36],"overlooks":[37],"semantic":[39,65,71,84],"information.":[40],"address":[42],"this":[43],"problem,":[44],"inspired":[45],"by":[46],"success":[49],"of":[50,104,133],"deep":[52],"neural":[53],"network,":[54],"we":[55],"combine":[56],"it":[57],"system":[62],"to":[63,92],"conduct":[64],"mapping.":[66],"Both":[67],"information":[72],"will":[73],"be":[74],"projected":[75],"into":[76],"3D":[78,83],"space":[79],"for":[80],"generating":[81],"a":[82],"map.":[85],"We":[86,110],"also":[87],"use":[88],"an":[89],"optical-flow-based":[90],"method":[91,101],"deal":[93],"moving":[96],"objects":[97],"that":[99],"our":[100,113,121],"is":[102],"capable":[103],"working":[105],"robustly":[106],"dynamic":[108],"environments.":[109],"have":[111],"performed":[112],"experiments":[114],"public":[117],"TUM":[118],"dataset":[119],"recorded":[122],"office":[123],"dataset.":[124],"Experimental":[125],"results":[126],"demonstrate":[127],"feasibility":[129],"impressive":[131],"performance":[132],"proposed":[135],"method.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}