{"id":"https://openalex.org/W2120560992","doi":"https://doi.org/10.1109/iros.2003.1250670","title":"Hierarchical simultaneous localization and film mapping","display_name":"Hierarchical simultaneous localization and film mapping","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2120560992","doi":"https://doi.org/10.1109/iros.2003.1250670","mag":"2120560992"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5011610153","display_name":"B. Lisien","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Lisien","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108720007","display_name":"D. Morales","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Morales","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091771290","display_name":"David Silver","orcid":"https://orcid.org/0000-0002-5197-2892"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Silver","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Kantor","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088614516","display_name":"Ioannis Rekleitis","orcid":"https://orcid.org/0000-0002-0655-224X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I. Rekleitis","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Choset","raw_affiliation_strings":["Camegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Camegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":283.4349,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.99974687,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"448","last_page":"453"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9994000196456909,"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":0.9987999796867371,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8084497451782227},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7505743503570557},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.7133789658546448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6669890284538269},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.53052818775177},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.5115123987197876},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.46386948227882385},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44453558325767517},{"id":"https://openalex.org/keywords/square","display_name":"Square (algebra)","score":0.4341531991958618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2539002001285553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2500913143157959},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19894662499427795},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14195764064788818}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8084497451782227},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7505743503570557},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.7133789658546448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6669890284538269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.53052818775177},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.5115123987197876},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.46386948227882385},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44453558325767517},{"id":"https://openalex.org/C135692309","wikidata":"https://www.wikidata.org/wiki/Q111124","display_name":"Square (algebra)","level":2,"score":0.4341531991958618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2539002001285553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2500913143157959},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19894662499427795},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14195764064788818},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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":27,"referenced_works":["https://openalex.org/W1549613529","https://openalex.org/W1553686021","https://openalex.org/W1587957970","https://openalex.org/W1644054796","https://openalex.org/W1652749684","https://openalex.org/W1829541011","https://openalex.org/W1935649335","https://openalex.org/W1978289112","https://openalex.org/W1990012555","https://openalex.org/W2020934227","https://openalex.org/W2021392696","https://openalex.org/W2030021468","https://openalex.org/W2058173596","https://openalex.org/W2061869173","https://openalex.org/W2104524378","https://openalex.org/W2118429180","https://openalex.org/W2125938200","https://openalex.org/W2133048394","https://openalex.org/W2142362566","https://openalex.org/W2143864104","https://openalex.org/W2148820580","https://openalex.org/W2176506572","https://openalex.org/W4242842378","https://openalex.org/W6632821135","https://openalex.org/W6633270342","https://openalex.org/W6635206105","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2110188799","https://openalex.org/W2004586648","https://openalex.org/W3112995165"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15],"novel":[4],"method":[5],"of":[6,65,73],"combining":[7],"topological":[8,35],"and":[9,21,49,58],"feature-based":[10,41],"mapping":[11,22,36,50],"strategies":[12],"to":[13,18,38,55],"create":[14],"hierarchical":[16],"approach":[17,75],"simultaneous":[19],"localization":[20],"(SLAM).":[23],"More":[24],"than":[25],"simply":[26],"running":[27],"both":[28],"processes":[29],"in":[30,76],"parallel,":[31],"we":[32],"use":[33],"the":[34,63],"procedure":[37],"organize":[39],"local":[40],"methods.":[42],"The":[43],"result":[44],"is":[45],"an":[46,77],"autonomous":[47],"exploration":[48],"strategy":[51],"that":[52],"scales":[53],"well":[54],"large":[56],"environments":[57],"higher":[59],"dimensions":[60],"while":[61],"confronting":[62],"issue":[64],"obstacle":[66],"avoidance.":[67],"We":[68],"have":[69],"obtained":[70],"successful":[71],"results":[72],"our":[74],"area":[78],"spanning":[79],"5000":[80],"square":[81],"meters.":[82]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}