{"id":"https://openalex.org/W2087852372","doi":"https://doi.org/10.1109/icinfa.2013.6720452","title":"A hybrid map representation for simultaneous localization and mapping of the internal ruins environment","display_name":"A hybrid map representation for simultaneous localization and mapping of the internal ruins environment","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2087852372","doi":"https://doi.org/10.1109/icinfa.2013.6720452","mag":"2087852372"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2013.6720452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","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/A5100332725","display_name":"Nan Wang","orcid":"https://orcid.org/0000-0001-9504-5591"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China","[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365259","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1826-9748"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376911","display_name":"Minghui Wang","orcid":"https://orcid.org/0000-0003-4517-6782"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghui Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114949187","display_name":"Mingyang Zhao","orcid":"https://orcid.org/0000-0001-6953-9731"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"[State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China]","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":null,"first_page":"1060","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955000281333923,"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":0.9955000281333923,"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":0.9930999875068665,"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":0.9606999754905701,"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/topological-map","display_name":"Topological map","score":0.6979777216911316},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6805496215820312},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6603458523750305},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6064854860305786},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5619562864303589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5581990480422974},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.556251049041748},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5485351085662842},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.5141056180000305},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4319440424442291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4000643193721771},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3787631094455719},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.323735773563385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23959356546401978},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.1725272834300995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15618067979812622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1386856734752655},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09544280171394348},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.06939300894737244},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.06644484400749207}],"concepts":[{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6979777216911316},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6805496215820312},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6603458523750305},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6064854860305786},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5619562864303589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5581990480422974},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.556251049041748},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5485351085662842},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.5141056180000305},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4319440424442291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4000643193721771},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3787631094455719},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.323735773563385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23959356546401978},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.1725272834300995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15618067979812622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1386856734752655},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09544280171394348},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.06939300894737244},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.06644484400749207},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/icinfa.2013.6720452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"},{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1982191334","https://openalex.org/W2045139837","https://openalex.org/W2109731149","https://openalex.org/W2139083229","https://openalex.org/W2150839555","https://openalex.org/W2158057652","https://openalex.org/W2166507554","https://openalex.org/W2169834317","https://openalex.org/W2349346277","https://openalex.org/W2362272545","https://openalex.org/W2382313376","https://openalex.org/W2392579352","https://openalex.org/W6676448891","https://openalex.org/W6891288813","https://openalex.org/W6999707331"],"related_works":["https://openalex.org/W2913279314","https://openalex.org/W3214167195","https://openalex.org/W4313168669","https://openalex.org/W2771715819","https://openalex.org/W2134250996","https://openalex.org/W2155468563","https://openalex.org/W2017253780","https://openalex.org/W1983719746","https://openalex.org/W2121769094","https://openalex.org/W2037103554"],"abstract_inverted_index":{"According":[0],"to":[1],"morphological":[2],"characteristics":[3],"in":[4,95],"the":[5,31,40,45,56,60,66,102,110],"interior":[6],"of":[7,33],"ruins":[8,18,48,98],"after":[9],"an":[10,96],"earthquake":[11],"disaster,":[12],"a":[13,23,75],"map":[14,35,58,78],"representation":[15],"technique":[16],"for":[17],"environment":[19,49,99],"is":[20,36],"presented,":[21],"and":[22,27,63,69,107],"corresponding":[24],"simultaneous":[25],"localization":[26,106],"mapping":[28,108],"algorithm":[29,46,103],"on":[30,39],"basis":[32],"hybrid":[34,43],"proposed.":[37],"Based":[38],"topological":[41,57,81],"metric":[42,77],"map,":[44],"describes":[47],"at":[50,79,109],"different":[51],"levels.":[52],"At":[53],"global":[54],"level,":[55],"organizes":[59],"overall":[61],"structure":[62],"also":[64],"ensures":[65],"computing":[67],"capability":[68],"ambient":[70],"adaptability.":[71],"Then,":[72],"through":[73],"building":[74],"local":[76],"each":[80],"node":[82],"region,":[83],"irregular":[84],"obstacles":[85],"formed":[86],"by":[87],"random":[88],"seismic":[89],"damage":[90],"are":[91],"described.":[92],"Finally,":[93],"experiments":[94],"artificial":[97],"show":[100],"that":[101],"can":[104],"realize":[105],"complicated":[111],"environment.":[112]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
