{"id":"https://openalex.org/W3006280504","doi":"https://doi.org/10.1109/icra40945.2020.9197520","title":"Topological Mapping for Manhattan-like Repetitive Environments","display_name":"Topological Mapping for Manhattan-like Repetitive Environments","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3006280504","doi":"https://doi.org/10.1109/icra40945.2020.9197520","mag":"3006280504"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197520","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.06575","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011092723","display_name":"Sai Shubodh Puligilla","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Sai Shubodh Puligilla","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad","IIIT,Robotics Research Center,Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]},{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003814555","display_name":"Satyajit Tourani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Satyajit Tourani","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad","IIIT,Robotics Research Center,Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]},{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000021566","display_name":"Tushar Vaidya","orcid":"https://orcid.org/0000-0002-2264-2595"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Tushar Vaidya","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad","IIIT,Robotics Research Center,Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]},{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033683959","display_name":"Udit Singh Parihar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Udit Singh Parihar","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad","IIIT,Robotics Research Center,Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]},{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038936106","display_name":"Ravi Kiran Sarvadevabhatla","orcid":"https://orcid.org/0000-0003-4134-1154"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ravi Kiran Sarvadevabhatla","raw_affiliation_strings":["Centre for Visual Information Technology, IIIT, Hyderabad","International Institute of Information Technology, Hyderabad;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Visual Information Technology, IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad;","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad","IIIT,Robotics Research Center,Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]},{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6315,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91630069,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6268","last_page":"6274"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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-graph-theory","display_name":"Topological graph theory","score":0.672072172164917},{"id":"https://openalex.org/keywords/topological-graph","display_name":"Topological graph","score":0.6231672763824463},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6078784465789795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6021127700805664},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.555171012878418},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.4104588031768799},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4041438698768616},{"id":"https://openalex.org/keywords/voltage-graph","display_name":"Voltage graph","score":0.3600934147834778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25217410922050476},{"id":"https://openalex.org/keywords/line-graph","display_name":"Line graph","score":0.21626067161560059},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.21005567908287048},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16064360737800598}],"concepts":[{"id":"https://openalex.org/C157406716","wikidata":"https://www.wikidata.org/wiki/Q4115842","display_name":"Topological graph theory","level":5,"score":0.672072172164917},{"id":"https://openalex.org/C8764922","wikidata":"https://www.wikidata.org/wiki/Q17104195","display_name":"Topological graph","level":3,"score":0.6231672763824463},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6078784465789795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6021127700805664},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.555171012878418},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4104588031768799},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4041438698768616},{"id":"https://openalex.org/C22149727","wikidata":"https://www.wikidata.org/wiki/Q7940747","display_name":"Voltage graph","level":4,"score":0.3600934147834778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25217410922050476},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.21626067161560059},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.21005567908287048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16064360737800598}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197520","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:arXiv.org:2002.06575","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06575","pdf_url":"https://arxiv.org/pdf/2002.06575","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3006280504","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2002.06575","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2002.06575","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.06575","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.06575","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06575","pdf_url":"https://arxiv.org/pdf/2002.06575","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3006280504.pdf","grobid_xml":"https://content.openalex.org/works/W3006280504.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1997460147","https://openalex.org/W1999399477","https://openalex.org/W2020890121","https://openalex.org/W2021851106","https://openalex.org/W2042452952","https://openalex.org/W2049207102","https://openalex.org/W2097936260","https://openalex.org/W2108598243","https://openalex.org/W2109271936","https://openalex.org/W2115499947","https://openalex.org/W2115584962","https://openalex.org/W2130917470","https://openalex.org/W2132185185","https://openalex.org/W2134670479","https://openalex.org/W2137052305","https://openalex.org/W2150252608","https://openalex.org/W2151914190","https://openalex.org/W2153054365","https://openalex.org/W2194775991","https://openalex.org/W2402652555","https://openalex.org/W2732026016","https://openalex.org/W2936503027","https://openalex.org/W2953127211","https://openalex.org/W2962812366","https://openalex.org/W2970971581","https://openalex.org/W2990129662","https://openalex.org/W3039925688","https://openalex.org/W6679792166","https://openalex.org/W6740934225"],"related_works":["https://openalex.org/W2901682442","https://openalex.org/W3094552683","https://openalex.org/W3209476063","https://openalex.org/W24570487","https://openalex.org/W3035070303","https://openalex.org/W2952383826","https://openalex.org/W2963555845","https://openalex.org/W2847080808","https://openalex.org/W2360817558","https://openalex.org/W2181442289","https://openalex.org/W2921759594","https://openalex.org/W2946851410","https://openalex.org/W2969617491","https://openalex.org/W206270772","https://openalex.org/W217658273","https://openalex.org/W1578829633","https://openalex.org/W3170097993","https://openalex.org/W2607634579","https://openalex.org/W2971763849","https://openalex.org/W2976651171"],"abstract_inverted_index":{"We":[0,143],"showcase":[1],"a":[2,7,22,32,47,64,79,94,108,136],"topological":[3,35,89,103,151],"mapping":[4],"framework":[5],"for":[6],"challenging":[8],"indoor":[9,182],"warehouse":[10,18,34,183],"setting.":[11],"At":[12,55],"the":[13,17,26,29,41,44,56,59,68,83,99,113,167,186,189],"most":[14],"abstract":[15],"level,":[16,58],"is":[19,61,147],"represented":[20,62],"as":[21,63,78,121,155,157,164],"Topological":[23,122],"Graph":[24,66,81,123,126,133,159,170,179],"where":[25,67],"nodes":[27,52,69],"of":[28,46,86,175,188],"graph":[30],"represent":[31],"particular":[33],"construct":[36],"(e.g.":[37],"rackspace,":[38],"corridor)":[39],"and":[40,70,77,124,139,152],"edges":[42,71],"denote":[43],"existence":[45],"path":[48],"between":[49,102],"two":[50],"neighbouring":[51],"or":[53],"topologies.":[54],"intermediate":[57],"map":[60],"Manhattan":[65,75,125,153,158],"are":[72,91,105],"characterized":[73],"by":[74,149],"properties":[76,101],"Pose":[80,132,141,169,178],"at":[82],"lower-most":[84],"level":[85],"detail.":[87],"The":[88,173],"constructs":[90],"learned":[92],"via":[93,107],"Deep":[95],"Convolutional":[96],"Network":[97],"while":[98],"relational":[100],"instances":[104],"learnt":[106],"Siamese-style":[109],"Neural":[110],"Network.":[111],"In":[112],"paper,":[114],"we":[115],"show":[116,144],"that":[117],"maintaining":[118],"abstractions":[119],"such":[120],"help":[127],"in":[128,166],"recovering":[129],"an":[130],"accurate":[131],"starting":[134],"from":[135],"highly":[137],"erroneous":[138],"unoptimized":[140],"Graph.":[142],"how":[145],"this":[146],"achieved":[148],"embedding":[150],"relations":[154,163],"well":[156],"aided":[160],"loop":[161],"closure":[162],"constraints":[165],"backend":[168],"optimization":[171],"framework.":[172,191],"recovery":[174],"near":[176],"ground-truth":[177],"on":[180],"real-world":[181],"scenes":[184],"vindicate":[185],"efficacy":[187],"proposed":[190]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
