{"id":"https://openalex.org/W4377704948","doi":"https://doi.org/10.1109/icara56516.2023.10125919","title":"Efficient Real-Time Localization in Prior Indoor Maps Using Semantic SLAM","display_name":"Efficient Real-Time Localization in Prior Indoor Maps Using Semantic SLAM","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4377704948","doi":"https://doi.org/10.1109/icara56516.2023.10125919"},"language":"en","primary_location":{"id":"doi:10.1109/icara56516.2023.10125919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-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/A5111801001","display_name":"Rajendra Goswami","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. G. Goswami","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072775124","display_name":"P. V. Amith","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. V. Amith","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027962534","display_name":"J. Hari","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Hari","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092001311","display_name":"A. Dhaygude","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Dhaygude","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054769060","display_name":"P. Krishnamurthy","orcid":"https://orcid.org/0000-0001-8264-7972"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Krishnamurthy","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073829818","display_name":"John\u2010Ross Rizzo","orcid":"https://orcid.org/0000-0002-4084-0085"},"institutions":[{"id":"https://openalex.org/I42102869","display_name":"Rusk Rehabilitation","ror":"https://ror.org/05bk0c386","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210086933","https://openalex.org/I42102869"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Rizzo","raw_affiliation_strings":["Rusk Inst. of Rehabilitation, NYU Grossman School of Medicine,New York,NY,USA","Rusk Inst. of Rehabilitation, NYU Grossman School of Medicine, New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Rusk Inst. of Rehabilitation, NYU Grossman School of Medicine,New York,NY,USA","institution_ids":["https://openalex.org/I42102869"]},{"raw_affiliation_string":"Rusk Inst. of Rehabilitation, NYU Grossman School of Medicine, New York, NY, USA","institution_ids":["https://openalex.org/I42102869"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048765370","display_name":"Anthony Tzes","orcid":"https://orcid.org/0000-0003-3709-2810"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"A. Tzes","raw_affiliation_strings":["NYU Abu Dhabi,Dept. of ECE,Abu Dhabi,UAE","Dept. of ECE, NYU Abu Dhabi, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"NYU Abu Dhabi,Dept. of ECE,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Dept. of ECE, NYU Abu Dhabi, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. Khorrami","raw_affiliation_strings":["NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engg.,Dept. of ECE,Brooklyn,NY,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Dept. of ECE, NYU Tandon School of Engg., Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5111801001"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":2.6522,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89597385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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-vision","display_name":"Computer vision","score":0.7619683742523193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.722882091999054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7167724370956421},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7057814598083496},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6737350821495056},{"id":"https://openalex.org/keywords/floor-plan","display_name":"Floor plan","score":0.6591624021530151},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5698596239089966},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5606325268745422},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5314447283744812},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5181728601455688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157699584960938},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44560375809669495},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4125276207923889},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3303224742412567},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32131877541542053},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11495909094810486}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7619683742523193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.722882091999054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7167724370956421},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7057814598083496},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6737350821495056},{"id":"https://openalex.org/C61056293","wikidata":"https://www.wikidata.org/wiki/Q18965","display_name":"Floor plan","level":2,"score":0.6591624021530151},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5698596239089966},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5606325268745422},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5314447283744812},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5181728601455688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157699584960938},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44560375809669495},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4125276207923889},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3303224742412567},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32131877541542053},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11495909094810486},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara56516.2023.10125919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W22745672","https://openalex.org/W1972071930","https://openalex.org/W2031118188","https://openalex.org/W2064972261","https://openalex.org/W2115499947","https://openalex.org/W2125420246","https://openalex.org/W2164944168","https://openalex.org/W2212334805","https://openalex.org/W2535547924","https://openalex.org/W2560023338","https://openalex.org/W2737258237","https://openalex.org/W2779637370","https://openalex.org/W2939737618","https://openalex.org/W2962689474","https://openalex.org/W2963163009","https://openalex.org/W2963517242","https://openalex.org/W3003320347","https://openalex.org/W3084025340","https://openalex.org/W3102327032","https://openalex.org/W3176366763","https://openalex.org/W6761726893"],"related_works":["https://openalex.org/W2125871801","https://openalex.org/W1585960250","https://openalex.org/W2123849027","https://openalex.org/W2120540633","https://openalex.org/W1976194731","https://openalex.org/W2014639021","https://openalex.org/W2379763979","https://openalex.org/W2112986586","https://openalex.org/W2012910072","https://openalex.org/W4377704948"],"abstract_inverted_index":{"In":[0,36],"this":[1],"paper,":[2],"a":[3,23,31,59,84,103],"method":[4,108],"for":[5,109],"real-time":[6,90],"global":[7,67,110],"localization":[8,122],"(registration)":[9],"of":[10,21,30,69,77,89,102,129],"an":[11,22,28,58,118],"agent":[12,46],"(robot":[13],"or":[14],"visually":[15],"impaired":[16],"person)":[17],"in":[18,55,117],"the":[19,37,40,45,66,70,78,83,97,100,127,130],"presence":[20],"priori":[24,60,85],"indoor":[25,119],"map":[26,42,86],"(e.g.,":[27],"image":[29],"floor":[32,62],"plan)":[33],"is":[34,53,115],"presented.":[35],"proposed":[38,113],"algorithm,":[39],"SLAM":[41,92],"created":[43],"by":[44],"equipped":[47],"with":[48,57],"RGB-D":[49],"and":[50,75,99,121],"IMU":[51],"sensors":[52,95],"used":[54],"conjunction":[56],"architectural":[61],"plan":[63],"to":[64],"find":[65],"location":[68],"agent.":[71],"This":[72],"involves":[73],"extraction":[74],"vectorization":[76],"semantic":[79,91],"object":[80],"locations":[81],"from":[82],"image,":[87],"implementation":[88],"using":[93],"onboard":[94],"on":[96],"agent,":[98],"use":[101],"particle":[104],"filter":[105],"based":[106],"optimization":[107],"localization.":[111],"The":[112],"algorithm":[114],"applied":[116],"environment":[120],"results":[123],"are":[124],"presented":[125],"showing":[126],"effectiveness":[128],"approach.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}