{"id":"https://openalex.org/W2787451563","doi":"https://doi.org/10.1109/iccis.2017.8274775","title":"Semantic mapping and semantics-boosted navigation with path creation on a mobile robot","display_name":"Semantic mapping and semantics-boosted navigation with path creation on a mobile robot","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2787451563","doi":"https://doi.org/10.1109/iccis.2017.8274775","mag":"2787451563"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2017.8274775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5058002649","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0001-8094-1991"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073040585","display_name":"Zehui Meng","orcid":"https://orcid.org/0000-0002-7276-6844"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zehui Meng","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058002649"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":2.7219,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91282339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"207","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9997000098228455,"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":0.996999979019165,"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-science","display_name":"Computer science","score":0.7497566342353821},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.7055603861808777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6533947587013245},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5932208895683289},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5528792142868042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5467653274536133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5440511107444763},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5218983292579651},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5130206942558289},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5034980177879333},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47724485397338867},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4519954025745392},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4313860535621643},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4286722242832184},{"id":"https://openalex.org/keywords/semantic-feature","display_name":"Semantic feature","score":0.4230445623397827},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.1717032492160797},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1265721321105957}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7497566342353821},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.7055603861808777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6533947587013245},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5932208895683289},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5528792142868042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5467653274536133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5440511107444763},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5218983292579651},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5130206942558289},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5034980177879333},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47724485397338867},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4519954025745392},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4313860535621643},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4286722242832184},{"id":"https://openalex.org/C2781122975","wikidata":"https://www.wikidata.org/wiki/Q16928266","display_name":"Semantic feature","level":2,"score":0.4230445623397827},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.1717032492160797},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1265721321105957},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2017.8274775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1882751422","https://openalex.org/W1923184257","https://openalex.org/W1971086298","https://openalex.org/W1989684337","https://openalex.org/W2088049833","https://openalex.org/W2102605133","https://openalex.org/W2124386111","https://openalex.org/W2134670479","https://openalex.org/W2147800946","https://openalex.org/W2163605009","https://openalex.org/W2168356304","https://openalex.org/W2219747066","https://openalex.org/W2402652555","https://openalex.org/W2613718673","https://openalex.org/W2963037989","https://openalex.org/W6620707391","https://openalex.org/W6631782140","https://openalex.org/W6639622305","https://openalex.org/W6679792166","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2157678966","https://openalex.org/W2997419729","https://openalex.org/W3004140625","https://openalex.org/W2769842592","https://openalex.org/W2110306692","https://openalex.org/W3001956759","https://openalex.org/W1489926632","https://openalex.org/W3003948348","https://openalex.org/W35374767","https://openalex.org/W4376648022"],"abstract_inverted_index":{"Movable":[0],"obstacles":[1,87,159],"are":[2,95,121],"challenges":[3],"for":[4,135],"robotic":[5,48,79,110],"navigation":[6,23,80],"in":[7,17,28,81],"human":[8],"living":[9],"environments":[10,83,155],"because":[11],"they":[12],"lead":[13],"to":[14,115,126,146,150],"frequent":[15],"changes":[16,21],"pre-built":[18],"maps.":[19],"Such":[20],"cause":[22],"failures":[24],"and":[25,42,60,92,106,133],"high":[26],"costs":[27],"path":[29,65,152],"replanning.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"focus":[35],"on":[36,69,167],"the":[37,70,77,165],"problem":[38],"of":[39,53,76],"semantic":[40,71,136,148],"mapping":[41,137],"semantics-boosted":[43],"navigation,":[44],"introducing":[45],"our":[46,98,168],"intelligent":[47],"system":[49,166],"that":[50],"is":[51,88,144],"capable":[52],"real-time":[54],"belief-based":[55],"scene":[56,140],"understanding,":[57],"object":[58,93],"detection":[59,94,132],"recognition,":[61],"as":[62,64],"well":[63],"creation":[66],"strategy":[67],"based":[68],"information.":[72],"With":[73],"deeper":[74],"understanding":[75,91],"environments,":[78],"cluttered":[82,154],"filled":[84],"with":[85,104,129,139,170],"movable":[86,158],"improved.":[89],"Scene":[90],"achieved":[96],"by":[97,156],"state-of-the-art":[99],"Convolu-tional":[100],"Neural":[101],"Network":[102],"(CNN)":[103],"multi-functions":[105],"then":[107],"transformed":[108],"into":[109],"beliefs":[111,120,149],"using":[112],"Bayes":[113],"filtering":[114],"ensure":[116],"temporal":[117],"coherence.":[118],"Object":[119],"further":[122],"extended":[123],"from":[124],"2D":[125],"3D":[127],"space":[128],"geometric":[130],"feature":[131],"used":[134],"together":[138],"beliefs.":[141],"Planning":[142],"algorithm":[143],"designed":[145],"utilize":[147],"create":[151],"through":[153],"manipulating":[157],"at":[160],"minimal":[161],"costs.":[162],"We":[163],"evaluate":[164],"robots":[169],"real":[171],"human-living":[172],"office":[173],"scenarios.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}