{"id":"https://openalex.org/W4383109143","doi":"https://doi.org/10.1109/icra48891.2023.10160977","title":"FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization","display_name":"FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109143","doi":"https://doi.org/10.1109/icra48891.2023.10160977"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5065399603","display_name":"Delin Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Delin Feng","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103046446","display_name":"Zhenpeng He","orcid":"https://orcid.org/0000-0002-5570-1838"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenpeng He","raw_affiliation_strings":["Baidu Research,Robotics and Auto-Driving Laboratory (RAL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Research,Robotics and Auto-Driving Laboratory (RAL)","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068725106","display_name":"Jiawei Hou","orcid":"https://orcid.org/0000-0002-6728-0997"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Hou","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051350739","display_name":"S\u00f6ren Schwertfeger","orcid":"https://orcid.org/0000-0003-2879-1636"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Schwertfeger","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065065325","display_name":"Liangjun Zhang","orcid":"https://orcid.org/0009-0007-7060-1660"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangjun Zhang","raw_affiliation_strings":["Baidu Research,Robotics and Auto-Driving Laboratory (RAL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Research,Robotics and Auto-Driving Laboratory (RAL)","institution_ids":["https://openalex.org/I98301712"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0293,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9621927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6168","last_page":"6174"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/floorplan","display_name":"Floorplan","score":0.9032249450683594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7453004717826843},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.659181535243988},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6391648054122925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6079209446907043},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5946066379547119},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.548298180103302},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.517013430595398},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4633496403694153},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4285218119621277},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4172239601612091},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4112131595611572},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38566091656684875},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35610634088516235},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35443609952926636},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13300305604934692},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.1145082414150238},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09001001715660095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07919174432754517}],"concepts":[{"id":"https://openalex.org/C130145326","wikidata":"https://www.wikidata.org/wiki/Q1553985","display_name":"Floorplan","level":2,"score":0.9032249450683594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7453004717826843},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.659181535243988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6391648054122925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6079209446907043},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5946066379547119},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.548298180103302},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.517013430595398},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4633496403694153},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4285218119621277},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4172239601612091},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4112131595611572},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38566091656684875},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35610634088516235},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35443609952926636},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13300305604934692},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.1145082414150238},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09001001715660095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07919174432754517},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1216267331","https://openalex.org/W1561442812","https://openalex.org/W1587878450","https://openalex.org/W1990186220","https://openalex.org/W2003447360","https://openalex.org/W2092371500","https://openalex.org/W2141461755","https://openalex.org/W2151103935","https://openalex.org/W2159498975","https://openalex.org/W2166820607","https://openalex.org/W2201290997","https://openalex.org/W2203676611","https://openalex.org/W2212334805","https://openalex.org/W2410369356","https://openalex.org/W2601876123","https://openalex.org/W2602151599","https://openalex.org/W2773365045","https://openalex.org/W2799132636","https://openalex.org/W2942259124","https://openalex.org/W2962689474","https://openalex.org/W2963342547","https://openalex.org/W2963977469","https://openalex.org/W2984531032","https://openalex.org/W3003971676","https://openalex.org/W3034275286","https://openalex.org/W3129245057","https://openalex.org/W3168811332","https://openalex.org/W3169622372","https://openalex.org/W4206056381","https://openalex.org/W4285033252","https://openalex.org/W4297733535","https://openalex.org/W6680796580","https://openalex.org/W6762003241"],"related_works":["https://openalex.org/W3041020613","https://openalex.org/W4310350393","https://openalex.org/W2752606361","https://openalex.org/W2494062811","https://openalex.org/W2142879048","https://openalex.org/W2897971883","https://openalex.org/W4389665975","https://openalex.org/W2259327677","https://openalex.org/W4353007197","https://openalex.org/W2060088703"],"abstract_inverted_index":{"Given":[0],"a":[1,31,41,44,66,160],"building":[2,52],"floorplan,":[3],"humans":[4],"can":[5,89],"localize":[6],"themselves":[7],"by":[8,25,60,97],"matching":[9],"the":[10,13,16,49,81,91,98,101,105,152,167],"observation":[11],"of":[12,74],"environment":[14],"with":[15,104],"floorplan":[17,53],"using":[18,135],"geometric,":[19],"semantic,":[20],"and":[21,48,57,143,150,165,178],"topological":[22],"clues.":[23],"Inspired":[24],"this":[26,28],"insight,":[27],"paper":[29],"proposes":[30],"learning-":[32],"based":[33],"topometric":[34,77],"robot":[35,46,99,116],"localization":[36],"method":[37,64,88,121,139,177],"FloorplanNet,":[38],"which":[39],"implements":[40],"match":[42,90],"between":[43],"metric":[45],"map":[47],"potentially":[50],"inaccurate":[51],"in":[54,145],"nonuniform":[55],"scales":[56],"different":[58],"shapes":[59],"semantic":[61],"information.":[62],"The":[63,176],"uses":[65],"novel":[67],"Graph":[68],"Neural":[69],"Network":[70],"to":[71,171],"learn":[72],"descriptors":[73],"nodes":[75],"from":[76,80],"graphs":[78],"generated":[79,96],"input":[82],"maps.":[83],"We":[84,118,157],"demonstrate":[85],"that":[86,162],"our":[87,111,120,130,138,173],"3D":[92],"point":[93],"cloud":[94],"sub-map":[95],"during":[100],"SLAM":[102],"process":[103],"2D":[106],"map.":[107],"Furthermore,":[108],"we":[109],"apply":[110],"map-matching":[112,155],"algorithm":[113],"for":[114],"real-world":[115,126],"localization.":[117],"evaluate":[119],"on":[122],"several":[123],"publicly":[124],"available":[125],"datasets.":[127],"Even":[128],"though":[129],"network":[131],"is":[132],"solely":[133],"trained":[134],"simulation":[136],"data,":[137],"demonstrates":[140],"high":[141],"robustness":[142],"effectiveness":[144],"real-":[146],"world":[147],"indoor":[148],"environments":[149],"outperforms":[151],"existing":[153],"SOTA":[154],"algorithms.":[156],"further":[158],"develop":[159],"simulator":[161,179],"automatically":[163],"creates":[164],"annotates":[166],"required":[168],"training":[169],"data":[170],"train":[172],"neural":[174],"networks.":[175],"are":[180],"released":[181],"at:":[182],"https://github.com/fengdelin/FloorplanNet.git":[183]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
