{"id":"https://openalex.org/W1582749606","doi":"https://doi.org/10.1109/icarcv.2002.1238494","title":"Incremental map building using an occupancy grid for an autonomous monocular robot","display_name":"Incremental map building using an occupancy grid for an autonomous monocular robot","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W1582749606","doi":"https://doi.org/10.1109/icarcv.2002.1238494","mag":"1582749606"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1238494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5049097561","display_name":"Rachel Gartshore","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"R. Gartshore","raw_affiliation_strings":["Center for Vision, Speech and Signal Processing, University of Surrey, Surrey, UK","Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK"],"affiliations":[{"raw_affiliation_string":"Center for Vision, Speech and Signal Processing, University of Surrey, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021412268","display_name":"Alberto S. Aguado","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"A. Aguado","raw_affiliation_strings":["Center for Vision, Speech and Signal Processing, University of Surrey, Surrey, UK","Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK"],"affiliations":[{"raw_affiliation_string":"Center for Vision, Speech and Signal Processing, University of Surrey, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084768417","display_name":"C. Galambos","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. Galambos","raw_affiliation_strings":["Center for Vision, Speech and Signal Processing, University of Surrey, Guilford, Surrey, UK","Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK"],"affiliations":[{"raw_affiliation_string":"Center for Vision, Speech and Signal Processing, University of Surrey, Guilford, Surrey, UK","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Center for Vision Speech & Signal Process., Surrey Univ., Guildford, UK","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049097561"],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":29.2768,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99001471,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":null,"first_page":"613","last_page":"618"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9299087524414062},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7185056805610657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6902176141738892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.66318678855896},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6415833234786987},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5890998840332031},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5762802362442017},{"id":"https://openalex.org/keywords/feature-matching","display_name":"Feature matching","score":0.5730653405189514},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5151099562644958},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5131986737251282},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.5116503834724426},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.48591795563697815},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48079243302345276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43335962295532227},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3992188572883606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1945231556892395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12543997168540955}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9299087524414062},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7185056805610657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6902176141738892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.66318678855896},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6415833234786987},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5890998840332031},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5762802362442017},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.5730653405189514},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5151099562644958},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5131986737251282},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.5116503834724426},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.48591795563697815},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48079243302345276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43335962295532227},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3992188572883606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1945231556892395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12543997168540955},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2002.1238494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.60.8093","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.60.8093","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ee.surrey.ac.uk/Personal/R.Gartshore/papers/gartshore2002.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W107715831","https://openalex.org/W1964443764","https://openalex.org/W1984136124","https://openalex.org/W2069830673","https://openalex.org/W2100904191","https://openalex.org/W2111308925","https://openalex.org/W2117354270","https://openalex.org/W2141750210","https://openalex.org/W2154978428","https://openalex.org/W2158057652","https://openalex.org/W2162197665","https://openalex.org/W2177031017","https://openalex.org/W6604329173","https://openalex.org/W6646486199"],"related_works":["https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W2073809416","https://openalex.org/W2145228184","https://openalex.org/W2373788374","https://openalex.org/W2348800404","https://openalex.org/W4293877624","https://openalex.org/W2077648827"],"abstract_inverted_index":{"This":[0],"paper":[1],"centres":[2],"on":[3,77],"the":[4,8,13,30,65,73,92,102,128,133,144,147],"problem":[5,67],"of":[6,10,29,45,56,72,75,91,94,97,138,146],"estimating":[7],"location":[9,35,74],"features":[11,76],"in":[12,101,119,127,132],"environment":[14],"within":[15],"a":[16,21,25,43],"map":[17,83],"building":[18,84],"framework":[19],"for":[20,70],"mobile":[22],"robot":[23,134],"with":[24],"single":[26],"camera.":[27],"Most":[28],"existing":[31],"approaches":[32],"to":[33,53,82],"feature":[34,107,129],"from":[36],"vision":[37,139],"data":[38,140],"have":[39],"been":[40],"developed":[41],"by":[42,68],"combination":[44],"matching":[46,66],"and":[47,131],"geometric":[48],"triangulation.":[49],"Triangulation":[50],"is":[51],"used":[52],"obtain":[54,116],"equations":[55],"reconstruction":[57],"or":[58],"structure-from-motion.":[59],"In":[60],"contrast,":[61],"our":[62,113],"approach":[63,114,123],"avoids":[64],"looking":[69],"evidence":[71,90],"an":[78],"occupancy":[79,103],"grid.":[80],"Similar":[81],"via":[85],"sonar":[86],"methods,":[87],"we":[88],"gather":[89],"trace":[93],"potential":[95],"position":[96],"features.":[98],"Thus,":[99],"maxima":[100],"grid":[104],"define":[105],"robust":[106],"positions.":[108],"Preliminary":[109],"results":[110,118],"show":[111],"that":[112],"can":[115,124],"accurate":[117],"real":[120],"time.":[121],"The":[122,136],"handle":[125],"noise":[126],"detection":[130],"position.":[135],"integration":[137],"over":[141],"time":[142],"reduces":[143],"covariance":[145],"estimates.":[148]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
