{"id":"https://openalex.org/W2584137064","doi":"https://doi.org/10.1109/icspcs.2016.7843337","title":"Map refinement for mobile robot navigation by polygonal approximation and distance transformation","display_name":"Map refinement for mobile robot navigation by polygonal approximation and distance transformation","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2584137064","doi":"https://doi.org/10.1109/icspcs.2016.7843337","mag":"2584137064"},"language":"en","primary_location":{"id":"doi:10.1109/icspcs.2016.7843337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icspcs.2016.7843337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 10th International Conference on Signal Processing and Communication Systems (ICSPCS)","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/A5044858300","display_name":"Deaho Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Deaho Lee","raw_affiliation_strings":["Humanitas College, Kyung Hee University, Yongin, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanitas College, Kyung Hee University, Yongin, Republic of Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100804322","display_name":"Sung-Soo Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungsoo Lim","raw_affiliation_strings":["Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086085174","display_name":"Younjung Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younjung Lee","raw_affiliation_strings":["Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070415972","display_name":"Jaeyoung Yoon","orcid":"https://orcid.org/0000-0003-2173-5498"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeyoung Yoon","raw_affiliation_strings":["Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics & Radio Engineering, Kyung Hee University, Yongin, Republic of Korea","institution_ids":["https://openalex.org/I35928602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35928602"],"apc_list":null,"apc_paid":null,"fwci":0.1657,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.6041716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7556629180908203},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7164916396141052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6890904903411865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6736488938331604},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.623790979385376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6160993576049805},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5934376120567322},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5851032137870789},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5762814283370972},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20278307795524597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18149471282958984},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16910752654075623}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7556629180908203},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7164916396141052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6890904903411865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6736488938331604},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.623790979385376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6160993576049805},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5934376120567322},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5851032137870789},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5762814283370972},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20278307795524597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18149471282958984},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16910752654075623},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icspcs.2016.7843337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icspcs.2016.7843337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 10th International Conference on Signal Processing and Communication Systems (ICSPCS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1964858450","https://openalex.org/W2074510619","https://openalex.org/W2107956696","https://openalex.org/W2163309052","https://openalex.org/W2163570556","https://openalex.org/W2172263315"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2122871747","https://openalex.org/W2562628082","https://openalex.org/W3114279067","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2],"refinement":[3],"method":[4,93,106],"of":[5,115],"maps":[6,35,45],"built":[7,18,117],"by":[8,19,38],"optical":[9,20],"sensors":[10,21],"for":[11,49,67,110],"mobile":[12,111],"robot":[13,50,112],"navigation.":[14,51],"The":[15,86],"original":[16,44,116],"map":[17,28],"has":[22],"much":[23],"noisy":[24],"information;":[25],"however,":[26],"the":[27,34,43,91,105],"may":[29],"lose":[30],"significant":[31,102],"information":[32,55],"when":[33],"are":[36,46],"refined":[37],"common":[39],"noise-reduction":[40],"filters,":[41],"therefore":[42],"generally":[47],"used":[48,109],"To":[52],"minimize":[53],"lost":[54],"and":[56,64,70,99],"remove":[57,96],"boundary":[58,97],"noises,":[59],"we":[60],"use":[61,71],"morphological":[62],"operators":[63],"polygonal":[65],"approximation":[66],"level":[68,81],"regions,":[69],"distance":[72],"transform":[73],"to":[74],"preserve":[75,101],"non-ground":[76],"regions":[77,82],"which":[78],"contact":[79],"with":[80],"in":[83],"this":[84],"paper.":[85],"experimental":[87],"results":[88],"show":[89],"that":[90],"proposed":[92],"can":[94,100,107],"efficiently":[95],"noises":[98],"information.":[103],"Therefore,":[104],"be":[108],"navigation":[113],"instead":[114],"maps.":[118]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}