{"id":"https://openalex.org/W2767747069","doi":"https://doi.org/10.1109/ecmr.2017.8098672","title":"A probabilistic framework for global localization with segmented planes","display_name":"A probabilistic framework for global localization with segmented planes","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2767747069","doi":"https://doi.org/10.1109/ecmr.2017.8098672","mag":"2767747069"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098672","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018854737","display_name":"Jan Wietrzykowski","orcid":"https://orcid.org/0000-0002-1343-6378"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Jan Wietrzykowski","raw_affiliation_strings":["Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000202665","display_name":"Piotr Skrzypczy\u0144ski","orcid":"https://orcid.org/0000-0002-9843-2404"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Piotr Skrzypczynski","raw_affiliation_strings":["Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.9265,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80279097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9977999925613403,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9977999925613403,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.8385393023490906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7432795763015747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6682348847389221},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.6651635766029358},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6337224245071411},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5422412753105164},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5341300964355469},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5133999586105347},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.470255970954895},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.46976467967033386},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.4144039750099182},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40715935826301575},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3376939594745636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20916521549224854},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.05969184637069702}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8385393023490906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7432795763015747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6682348847389221},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.6651635766029358},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6337224245071411},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5422412753105164},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5341300964355469},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5133999586105347},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.470255970954895},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.46976467967033386},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.4144039750099182},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40715935826301575},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3376939594745636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20916521549224854},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.05969184637069702},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2017.8098672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098672","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W121511052","https://openalex.org/W125693051","https://openalex.org/W338621103","https://openalex.org/W1592619852","https://openalex.org/W1989174032","https://openalex.org/W1996520948","https://openalex.org/W2082312667","https://openalex.org/W2132512702","https://openalex.org/W2144824356","https://openalex.org/W2157315715","https://openalex.org/W2159593339","https://openalex.org/W2161441681","https://openalex.org/W2250172176","https://openalex.org/W2284029970","https://openalex.org/W2300618187","https://openalex.org/W2410627718","https://openalex.org/W2419457336","https://openalex.org/W2566705929","https://openalex.org/W2599251042","https://openalex.org/W3102327032","https://openalex.org/W4253076582","https://openalex.org/W6604967858","https://openalex.org/W6605121731","https://openalex.org/W6835195194"],"related_works":["https://openalex.org/W2556215627","https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2163016745","https://openalex.org/W48401697","https://openalex.org/W2167310049","https://openalex.org/W3005655766"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,23,59,74],"novel":[4],"approach":[5,86],"to":[6,17,45,51,58],"global":[7,60,71],"localization":[8,20,72,105],"using":[9,91],"high-level":[10],"features.":[11],"The":[12,65,85],"new":[13,100],"probabilistic":[14],"framework":[15],"enables":[16],"incorporate":[18],"uncertain":[19],"cues":[21],"into":[22],"probability":[24,48],"distribution":[25,49],"that":[26],"describes":[27],"the":[28,31,53,92],"likelihood":[29],"of":[30,39,62],"current":[32],"robot":[33,54],"pose.":[34],"We":[35],"use":[36],"multiple":[37],"triplets":[38],"planes":[40],"segmented":[41],"from":[42],"RGB-D":[43,96],"data":[44],"generate":[46],"this":[47],"and":[50,98],"find":[52],"pose":[55],"with":[56,73,81],"respect":[57],"map":[61,76],"planar":[63],"segments.":[64],"algorithm":[66],"can":[67],"be":[68],"used":[69],"for":[70,78,103],"known":[75],"or":[77],"closing":[79],"loops":[80],"RGB-":[82],"D":[83],"data.":[84],"is":[87],"validated":[88],"in":[89],"experiments":[90],"publicly":[93],"available":[94],"NYUv2":[95],"dataset":[97,101],"our":[99],"prepared":[102],"testing":[104],"on":[106],"plane-rich":[107],"scenes.":[108]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}