{"id":"https://openalex.org/W2922515218","doi":"https://doi.org/10.1109/icce.2019.8662062","title":"Topological Map Generation for Intrinsic Visual Navigation of an Intelligent Service Robot","display_name":"Topological Map Generation for Intrinsic Visual Navigation of an Intelligent Service Robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2922515218","doi":"https://doi.org/10.1109/icce.2019.8662062","mag":"2922515218"},"language":"en","primary_location":{"id":"doi:10.1109/icce.2019.8662062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce.2019.8662062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Consumer Electronics (ICCE)","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/A5113503581","display_name":"Ren C. Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ren C. Luo","raw_affiliation_strings":["International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA), National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA), National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108663440","display_name":"Wei Shih","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei Shih","raw_affiliation_strings":["International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA), National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA), National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9983999729156494,"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/robot","display_name":"Robot","score":0.6966055035591125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6241973042488098},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.600964367389679},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5958698987960815},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.5905500054359436},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.586030125617981},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.583021342754364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5284243226051331},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5208718776702881},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.48301494121551514},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.4552839994430542},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.44884902238845825},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43986719846725464},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4321930408477783},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2401627004146576},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.178641676902771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1338135004043579},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.13294070959091187}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6966055035591125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6241973042488098},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.600964367389679},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5958698987960815},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.5905500054359436},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.586030125617981},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.583021342754364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5284243226051331},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5208718776702881},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.48301494121551514},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4552839994430542},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.44884902238845825},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43986719846725464},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4321930408477783},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2401627004146576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.178641676902771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1338135004043579},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.13294070959091187},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icce.2019.8662062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce.2019.8662062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Consumer Electronics (ICCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1955055330","https://openalex.org/W1968034339","https://openalex.org/W2000321478","https://openalex.org/W2020890121","https://openalex.org/W2112164532","https://openalex.org/W2115499947","https://openalex.org/W2117211893","https://openalex.org/W2121780146","https://openalex.org/W2125420246","https://openalex.org/W2130422193","https://openalex.org/W2134556823","https://openalex.org/W2157392310","https://openalex.org/W2402652555","https://openalex.org/W2411093439","https://openalex.org/W2567221593","https://openalex.org/W2587832212","https://openalex.org/W2754478322","https://openalex.org/W2774368367","https://openalex.org/W2963872397"],"related_works":["https://openalex.org/W1931898074","https://openalex.org/W2152974205","https://openalex.org/W2920827855","https://openalex.org/W2132660247","https://openalex.org/W3004140625","https://openalex.org/W2769842592","https://openalex.org/W2087051224","https://openalex.org/W2098783252","https://openalex.org/W2381936915","https://openalex.org/W2906243600"],"abstract_inverted_index":{"Navigation":[0],"methods":[1],"nowadays":[2],"are":[3,68],"mainly":[4],"based":[5],"on":[6],"metric":[7,84],"maps,":[8],"and":[9,86,135,155],"a":[10,20,69,91,106],"set":[11],"of":[12,76],"explicit":[13],"geometric":[14],"coordinates":[15],"must":[16],"be":[17,157],"provided.":[18],"However,":[19],"service":[21,153],"robot":[22,37,44,93,110],"may":[23],"struggle":[24],"in":[25,117,140,159],"reaching":[26,39],"this":[27],"precise":[28],"coordinate.":[29],"If":[30],"there":[31],"is":[32,149],"an":[33,99,118],"obstacle":[34],"preventing":[35],"the":[36,40,43,52,60,64,77],"from":[38],"goal":[41,53],"coordinate,":[42],"will":[45],"judge":[46],"that":[47,126,145],"it":[48,56],"has":[49,57],"not":[50],"reached":[51,59],"even":[54],"if":[55],"already":[58],"area":[61,162],"such":[62,79],"as":[63,80],"\"kitchen\".":[65],"Topological":[66],"maps":[67,85,88],"good":[70],"way":[71],"to":[72,94],"record":[73],"semantic":[74],"meanings":[75],"environments,":[78],"images.":[81],"We":[82,97,112,143],"integrate":[83],"topological":[87],"together":[89],"for":[90,151],"mobile":[92],"perform":[95],"navigation.":[96],"propose":[98],"image-based":[100],"particle":[101],"filter":[102],"which":[103],"can":[104,130,156],"generate":[105],"more":[107],"flexible":[108],"estimated":[109],"pose.":[111],"test":[113],"our":[114,127,146],"proposed":[115,128,147],"method":[116,129,148],"1000":[119],"m2indoor":[120],"environment.":[121],"The":[122],"experimental":[123],"result":[124],"shows":[125],"reduce":[131],"total":[132],"navigation":[133,141],"time":[134],"reach":[136],"higher":[137],"success":[138],"rate":[139],"stage.":[142],"show":[144],"suitable":[150],"intelligent":[152],"robots,":[154],"used":[158],"any":[160],"indoor":[161],"with":[163],"ease.":[164]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}