{"id":"https://openalex.org/W3089777376","doi":"https://doi.org/10.1109/icra40945.2020.9196997","title":"Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas","display_name":"Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089777376","doi":"https://doi.org/10.1109/icra40945.2020.9196997","mag":"3089777376"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.repo.uni-hannover.de/handle/123456789/10434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028312231","display_name":"Simon F. G. Ehlers","orcid":"https://orcid.org/0000-0001-5524-6639"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon F. G. Ehlers","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044520206","display_name":"Marvin Stuede","orcid":"https://orcid.org/0000-0002-1719-5460"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Stuede","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036337125","display_name":"Kathrin Nuelle","orcid":"https://orcid.org/0000-0002-2904-9903"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kathrin Nuelle","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028164919","display_name":"Tobias Ortmaier","orcid":"https://orcid.org/0000-0003-1644-3685"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Ortmaier","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9652","last_page":"9658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980999827384949,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7955011129379272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7261038422584534},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6426175832748413},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6012051105499268},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5877205729484558},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5635398030281067},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.531441867351532},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.5243980288505554},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.510316789150238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.509559154510498},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4888767600059509},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.47402599453926086},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43774768710136414},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.42803633213043213},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.31313830614089966},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2802463173866272},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19213253259658813},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.17396140098571777},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13325881958007812},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10537031292915344}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7955011129379272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7261038422584534},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6426175832748413},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6012051105499268},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5877205729484558},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5635398030281067},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.531441867351532},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.5243980288505554},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.510316789150238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.509559154510498},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4888767600059509},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.47402599453926086},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43774768710136414},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.42803633213043213},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31313830614089966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2802463173866272},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19213253259658813},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.17396140098571777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13325881958007812},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10537031292915344},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra40945.2020.9196997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.repo.uni-hannover.de:123456789/10434","is_oa":true,"landing_page_url":"https://www.repo.uni-hannover.de/handle/123456789/10434","pdf_url":null,"source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/ConferenceObject"},{"id":"doi:10.15488/10360","is_oa":true,"landing_page_url":"https://doi.org/10.15488/10360","pdf_url":null,"source":{"id":"https://openalex.org/S7407052956","display_name":"Leibniz Universit\u00e4t Hannover","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.repo.uni-hannover.de:123456789/10434","is_oa":true,"landing_page_url":"https://www.repo.uni-hannover.de/handle/123456789/10434","pdf_url":null,"source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/ConferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W1554769610","https://openalex.org/W1586173270","https://openalex.org/W1999722113","https://openalex.org/W2020890121","https://openalex.org/W2048710758","https://openalex.org/W2049981393","https://openalex.org/W2071185282","https://openalex.org/W2083624955","https://openalex.org/W2097012286","https://openalex.org/W2097406002","https://openalex.org/W2120353515","https://openalex.org/W2129853306","https://openalex.org/W2131546647","https://openalex.org/W2133665775","https://openalex.org/W2146881125","https://openalex.org/W2151103935","https://openalex.org/W2153054365","https://openalex.org/W2157392310","https://openalex.org/W2165213665","https://openalex.org/W2169528473","https://openalex.org/W2222061172","https://openalex.org/W2265661972","https://openalex.org/W2296267969","https://openalex.org/W2410369356","https://openalex.org/W2732026016","https://openalex.org/W2770135404","https://openalex.org/W2799112149","https://openalex.org/W2898231767","https://openalex.org/W2908326044","https://openalex.org/W3003903490","https://openalex.org/W6603604263","https://openalex.org/W6633227213","https://openalex.org/W6634982934","https://openalex.org/W6662680593","https://openalex.org/W6697114518","https://openalex.org/W6740934225"],"related_works":["https://openalex.org/W1994199712","https://openalex.org/W3103347420","https://openalex.org/W3207305163","https://openalex.org/W4388904787","https://openalex.org/W4376312333","https://openalex.org/W2373867963","https://openalex.org/W2000187001","https://openalex.org/W4389739076","https://openalex.org/W1891548346","https://openalex.org/W3089777376"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,62,65,75,132,155,166,173],"semantic":[4],"map":[5,25,175,186,192],"management":[6],"approach":[7,150,182],"for":[8,137,200],"various":[9],"environments":[10],"by":[11,84,108,153,194],"triggering":[12],"multiple":[13,159],"maps":[14,33,37,81,105,129],"with":[15,158,177],"different":[16,39,178,201],"simultaneous":[17],"localization":[18],"and":[19,115,130,140,161,164],"mapping":[20,154],"(SLAM)":[21],"configurations.":[22,180],"A":[23],"modular":[24],"structure":[26],"allows":[27],"to":[28,172,189],"add,":[29],"modify":[30],"or":[31],"delete":[32],"without":[34],"influencing":[35],"other":[36],"of":[38,44,60,93,128],"areas.":[40],"The":[41],"hierarchy":[42],"level":[43],"our":[45],"algorithm":[46],"is":[47,135,151,170],"above":[48],"the":[49,58,70,126,142,184,190],"utilized":[50],"SLAM":[51,72,179,198],"method.":[52],"Evaluating":[53],"laser":[54],"scan":[55],"data":[56],"(e.g.":[57],"detection":[59],"passing":[61],"doorway)":[63],"triggers":[64],"new":[66],"map,":[67],"automatically":[68,195],"choosing":[69,196],"appropriate":[71],"configuration":[73],"from":[74],"manually":[76],"predefined":[77,197],"list.":[78],"Single":[79],"independent":[80],"are":[82,87,106],"connected":[83],"link-points,":[85,131],"which":[86],"located":[88],"in":[89],"an":[90,109],"overlapping":[91],"zone":[92],"both":[94],"maps,":[95],"enabling":[96],"global":[97,143],"navigation":[98,138],"over":[99,146],"several":[100,147],"maps.":[101,148],"Loop-":[102],"closures":[103],"between":[104,121],"detected":[107],"appearance-based":[110],"method,":[111],"using":[112],"feature":[113],"matching":[114],"iterative":[116],"closest":[117],"point":[118,122],"(ICP)":[119],"registration":[120],"clouds.":[123],"Based":[124],"on":[125],"arrangement":[127],"topological":[133],"graph":[134],"extracted":[136],"purpose":[139],"tracking":[141],"robot's":[144],"position":[145],"Our":[149,181],"evaluated":[152],"university":[156],"campus":[157],"indoor":[160],"outdoor":[162],"areas":[163],"abstracting":[165],"metrical-topological":[167],"graph.":[168],"It":[169],"compared":[171,188],"single":[174,191],"running":[176],"enhances":[183],"overall":[185],"quality":[187],"approaches":[193],"configurations":[199],"environmental":[202],"setups.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
