{"id":"https://openalex.org/W4285102233","doi":"https://doi.org/10.1109/icra46639.2022.9811862","title":"Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity","display_name":"Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102233","doi":"https://doi.org/10.1109/icra46639.2022.9811862"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811862","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","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/A5091500185","display_name":"Ian D. Miller","orcid":"https://orcid.org/0000-0001-8401-9873"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ian D. Miller","raw_affiliation_strings":["University of Pennsylvania,GRASP Lab,Philadelphia,PA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Lab,Philadelphia,PA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029915435","display_name":"Ryan Soussan","orcid":"https://orcid.org/0009-0004-9822-0315"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Soussan","raw_affiliation_strings":["NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035"],"affiliations":[{"raw_affiliation_string":"NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007498199","display_name":"Brian Coltin","orcid":"https://orcid.org/0000-0003-2228-6815"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Coltin","raw_affiliation_strings":["NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035"],"affiliations":[{"raw_affiliation_string":"NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056675308","display_name":"Trey Smith","orcid":"https://orcid.org/0000-0001-8650-8566"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trey Smith","raw_affiliation_strings":["NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035"],"affiliations":[{"raw_affiliation_string":"NASA Ames Intelligent Robotics Group,Moffett Field,CA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["University of Pennsylvania,GRASP Lab,Philadelphia,PA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Lab,Philadelphia,PA,19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091500185"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.9442,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.88409648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4121","last_page":"4127"},"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":0.9929999709129333,"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/T10888","display_name":"Augmented Reality Applications","score":0.9923999905586243,"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/robustness","display_name":"Robustness (evolution)","score":0.7512478828430176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7362143397331238},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6746644973754883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6723499894142151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6715496778488159},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5148016810417175},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.49568402767181396},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46051326394081116},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30687281489372253}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7512478828430176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7362143397331238},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6746644973754883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6723499894142151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6715496778488159},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5148016810417175},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.49568402767181396},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46051326394081116},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30687281489372253},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811862","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1943193261","display_name":null,"funder_award_id":"CCR-2112665","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8661253275","display_name":null,"funder_award_id":"N00014-20-1-2822","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1993228967","https://openalex.org/W2092760593","https://openalex.org/W2097696373","https://openalex.org/W2122781316","https://openalex.org/W2141584146","https://openalex.org/W2164139712","https://openalex.org/W2168237427","https://openalex.org/W2182229738","https://openalex.org/W2222512263","https://openalex.org/W2535547924","https://openalex.org/W2545727272","https://openalex.org/W2737223639","https://openalex.org/W2739423245","https://openalex.org/W2782463854","https://openalex.org/W2910670177","https://openalex.org/W2913795037","https://openalex.org/W2945292915","https://openalex.org/W2950548915","https://openalex.org/W2962834855","https://openalex.org/W2963256208","https://openalex.org/W2964962461","https://openalex.org/W2967643980","https://openalex.org/W3020500358","https://openalex.org/W3034971973","https://openalex.org/W3035682985","https://openalex.org/W3090386798","https://openalex.org/W3102327032","https://openalex.org/W4238681124","https://openalex.org/W4285102573","https://openalex.org/W6741065463","https://openalex.org/W6741770579","https://openalex.org/W6758452879","https://openalex.org/W6766649498"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2912965286","https://openalex.org/W2171975302","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W4312231542","https://openalex.org/W4390828597"],"abstract_inverted_index":{"We":[0,108],"propose":[1],"a":[2,11,20,39,97,165],"system":[3],"that":[4,137],"uses":[5],"semantic":[6,76,88,98,113],"object":[7],"detections":[8],"to":[9,49,62,65,101,128,142],"localize":[10],"microgravity":[12],"free-flyer.":[13],"Many":[14],"applications":[15],"require":[16],"absolute":[17],"localization":[18,95,146,163],"in":[19,103,118,134,168],"known":[21],"reference":[22],"frame,":[23],"such":[24],"as":[25,91,93],"the":[26,66,69,75,106,123,126,156],"execution":[27],"of":[28,41,68,74,125,159],"waypoint":[29],"trajectories":[30],"defined":[31],"by":[32],"human":[33],"operators.":[34],"Classical":[35],"geometric":[36],"methods":[37],"build":[38],"map":[40,89],"point":[42,144],"features,":[43,145],"which":[44],"may":[45],"not":[46],"be":[47,50],"able":[48],"associated":[51],"after":[52],"lighting":[53],"or":[54],"environmental":[55,129],"changes.":[56,130],"By":[57],"contrast,":[58],"semantics":[59,139,161],"remain":[60],"invariant":[61],"changes":[63],"up":[64],"robustness":[67,124],"detection":[70],"algorithm":[71,127],"and":[72,121],"motion":[73],"objects.":[77],"In":[78],"this":[79],"work,":[80],"we":[81,132],"describe":[82],"our":[83,112,135,151],"approaches":[84],"for":[85,162],"both":[86],"offline":[87],"generation":[90],"well":[92],"online":[94],"against":[96],"map,":[99],"intended":[100],"run":[102],"real-time":[104],"on":[105,164],"robot.":[107],"additionally":[109],"demonstrate":[110,155],"how":[111],"localizer":[114],"outperforms":[115],"image-feature":[116],"matching":[117],"some":[119],"cases,":[120],"show":[122,133],"Crucially,":[131],"experiments":[136,154],"when":[138],"are":[140],"used":[141],"supplement":[143],"is":[147],"always":[148],"improved.":[149],"To":[150],"knowledge,":[152],"these":[153],"first":[157],"use":[158],"learned":[160],"free-flying":[166],"robot":[167],"microgravity.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
