{"id":"https://openalex.org/W3088244733","doi":"https://doi.org/10.1080/01691864.2020.1819873","title":"Online glass confidence map building using laser rangefinder for mobile robots","display_name":"Online glass confidence map building using laser rangefinder for mobile robots","publication_year":2020,"publication_date":"2020-09-16","ids":{"openalex":"https://openalex.org/W3088244733","doi":"https://doi.org/10.1080/01691864.2020.1819873","mag":"3088244733"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1819873","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1819873","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5101468312","display_name":"Jun Jiang","orcid":"https://orcid.org/0000-0003-3938-8877"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Jiang","raw_affiliation_strings":["Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3938-8877","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017184377","display_name":"Renato Miyagusuku","orcid":"https://orcid.org/0000-0003-2471-2187"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Renato Miyagusuku","raw_affiliation_strings":["Department of Mechanical and Intelligent Engineering, Utsunomiya University, Tochigi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2471-2187","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Engineering, Utsunomiya University, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1280-069X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9482-497X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017184377"],"corresponding_institution_ids":["https://openalex.org/I207399273"],"apc_list":null,"apc_paid":null,"fwci":6.3754,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96681121,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"34","issue":"23","first_page":"1506","last_page":"1521"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5590300559997559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5505622625350952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470089912414551},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5080254077911377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4959138333797455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48317041993141174},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.43604034185409546},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.41851216554641724}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5590300559997559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5505622625350952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470089912414551},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5080254077911377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4959138333797455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48317041993141174},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.43604034185409546},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.41851216554641724},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1819873","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1819873","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7955849259","display_name":"SLAM in Environment with Glass","funder_award_id":"20K21802","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320322617","display_name":"Okawa Foundation for Information and Telecommunications","ror":"https://ror.org/01enbtr31"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W22745672","https://openalex.org/W95062242","https://openalex.org/W1567193306","https://openalex.org/W1600851620","https://openalex.org/W1994349244","https://openalex.org/W1999050017","https://openalex.org/W2000160435","https://openalex.org/W2006445905","https://openalex.org/W2020405099","https://openalex.org/W2027911527","https://openalex.org/W2069552142","https://openalex.org/W2078984869","https://openalex.org/W2125420246","https://openalex.org/W2134156429","https://openalex.org/W2143700590","https://openalex.org/W2146881125","https://openalex.org/W2163339799","https://openalex.org/W2207756065","https://openalex.org/W2343277622","https://openalex.org/W2532018194","https://openalex.org/W2546091914","https://openalex.org/W2546880582","https://openalex.org/W2786899076","https://openalex.org/W2791626036","https://openalex.org/W2903581753","https://openalex.org/W2972986231"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067","https://openalex.org/W2012743301","https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586"],"abstract_inverted_index":{"Accurate":[0],"localization":[1,25,83],"and":[2,18,26,50,90,161,166],"mapping":[3,27,76],"are":[4,33],"essential":[5],"for":[6,73],"mobile":[7],"robots.":[8],"Using":[9],"laser":[10],"rangefinders":[11],"(LRFs),":[12],"current":[13],"state-of-the-art":[14],"indoor":[15],"Simultaneous":[16],"Localization":[17],"Mapping":[19],"(SLAM)":[20],"can":[21,41],"provide":[22],"accurate":[23],"real-time":[24],"in":[28,172],"most":[29],"environments.":[30],"An":[31],"exemption":[32],"those":[34],"where":[35],"glass":[36,45,69,77,100,106,177,184],"is":[37],"predominant,":[38],"as":[39,78,107,109,111,134,188],"LRFs":[40],"not":[42],"properly":[43],"detect":[44,68],"due":[46,85],"to":[47,64,67,86,117,143,158],"glass'":[48],"transparency":[49],"reflectiveness.":[51],"With":[52],"such":[53],"buildings":[54],"becoming":[55],"more":[56,180],"common,":[57],"this":[58,95],"has":[59],"become":[60],"an":[61,115,173],"important":[62],"issue":[63],"address.":[65],"Failure":[66],"causes":[70],"two":[71],"problems":[72],"SLAM:":[74],"incorrectly":[75],"open":[79],"space;":[80],"and,":[81],"lower":[82],"accuracy":[84],"mismatches":[87],"between":[88],"measured":[89],"expected":[91],"range":[92],"data.":[93],"In":[94],"paper,":[96],"we":[97],"propose":[98],"a":[99,147],"confidence":[101],"map":[102,127,152],"that":[103],"correctly":[104,186],"maps":[105],"occupied,":[108,135],"well":[110],"the":[112,138],"probability":[113,139,159],"of":[114,123,140,183],"object":[116],"be":[118,144],"glass/non-glass.":[119],"Our":[120],"approach":[121,171],"consists":[122],"four":[124],"steps:":[125],"(i)":[126],"all":[128],"objects,":[129],"even":[130],"potential":[131],"dynamic":[132,164],"obstacles,":[133],"(ii)":[136],"compute":[137],"scanned":[141,156],"objects":[142,157],"glass/non-glass":[145,194],"using":[146],"neural":[148],"network,":[149],"(iii)":[150],"online":[151],"updates":[153],"by":[154],"matching":[155],"map,":[160],"(iv)":[162],"filter":[163],"obstacles":[165],"noise.":[167],"We":[168],"validated":[169],"our":[170],"office":[174],"with":[175,190],"large":[176],"areas,":[178],"achieving":[179],"than":[181,192],"95%":[182],"areas":[185],"mapped":[187],"occupied":[189],"less":[191],"5%":[193],"classification":[195],"error.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
