{"id":"https://openalex.org/W2102988551","doi":"https://doi.org/10.1109/iros.2007.4399134","title":"Ceiling mosaics through information-based SLAM","display_name":"Ceiling mosaics through information-based SLAM","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2102988551","doi":"https://doi.org/10.1109/iros.2007.4399134","mag":"2102988551"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5098291209","display_name":"Jose Pascual Roda","orcid":null},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jose Pascual Roda","raw_affiliation_strings":["Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","University of Alicante, Alicante"],"affiliations":[{"raw_affiliation_string":"Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]},{"raw_affiliation_string":"University of Alicante, Alicante","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103991145","display_name":"Juan Manuel S\u00e1ez","orcid":null},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Manuel Saez","raw_affiliation_strings":["Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","University of Alicante, Alicante"],"affiliations":[{"raw_affiliation_string":"Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]},{"raw_affiliation_string":"University of Alicante, Alicante","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019943145","display_name":"Francisco Escolano","orcid":"https://orcid.org/0000-0003-3238-4021"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Escolano","raw_affiliation_strings":["Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","University of Alicante, Alicante"],"affiliations":[{"raw_affiliation_string":"Robot Vision Group, Computer Science and Artificial Intelligence Department, University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]},{"raw_affiliation_string":"University of Alicante, Alicante","institution_ids":["https://openalex.org/I130194489"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5098291209"],"corresponding_institution_ids":["https://openalex.org/I130194489"],"apc_list":null,"apc_paid":null,"fwci":18.8677,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98761973,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"13","issue":null,"first_page":"3898","last_page":"3904"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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/computer-vision","display_name":"Computer vision","score":0.7930669784545898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.721479594707489},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6557849645614624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638547420501709},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6375455260276794},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5421879887580872},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5388246774673462},{"id":"https://openalex.org/keywords/ceiling","display_name":"Ceiling (cloud)","score":0.5297608971595764},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5287180542945862},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5124288201332092},{"id":"https://openalex.org/keywords/rectification","display_name":"Rectification","score":0.45930537581443787},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.4298383593559265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10921642184257507}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7930669784545898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.721479594707489},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6557849645614624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638547420501709},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6375455260276794},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5421879887580872},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5388246774673462},{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.5297608971595764},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5287180542945862},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5124288201332092},{"id":"https://openalex.org/C50942859","wikidata":"https://www.wikidata.org/wiki/Q4967193","display_name":"Rectification","level":3,"score":0.45930537581443787},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.4298383593559265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10921642184257507},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.102.4392","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.102.4392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dccia.ua.es/~jmsaez/Publicaciones/CongresosInternacionales/CeilingMosaicsSLAM IROS 2007.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.4399999976158142,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W36923225","https://openalex.org/W1539282749","https://openalex.org/W1995875735","https://openalex.org/W2034432063","https://openalex.org/W2064186476","https://openalex.org/W2103138838","https://openalex.org/W2113243634","https://openalex.org/W2128275197","https://openalex.org/W2140935196","https://openalex.org/W2143864104","https://openalex.org/W2148820580","https://openalex.org/W2152710164","https://openalex.org/W2272123526","https://openalex.org/W2398838980","https://openalex.org/W2491009754","https://openalex.org/W2975461012","https://openalex.org/W3022404379","https://openalex.org/W6681158678","https://openalex.org/W6682324061","https://openalex.org/W6694238000"],"related_works":["https://openalex.org/W2355499516","https://openalex.org/W3174480258","https://openalex.org/W3210974833","https://openalex.org/W2599000612","https://openalex.org/W2811475781","https://openalex.org/W4392749941","https://openalex.org/W2094246381","https://openalex.org/W2361137193","https://openalex.org/W2081139303","https://openalex.org/W1969807202"],"abstract_inverted_index":{"In":[0,122],"this":[1],"paper,":[2],"we":[3,127,141],"present":[4,142],"a":[5,23,89,107,129],"novel":[6,130],"approach":[7],"to":[8,27,36,94,124],"computing":[9],"ceiling":[10,29],"mosaics":[11],"based":[12,136],"on":[13,137],"Information":[14,66,138],"Theory.":[15,139],"The":[16],"only":[17],"sensor":[18],"of":[19,30,60,78,85,153],"the":[20,28,31,38,48,58,61,64,76,79,83,86,111,151,154],"robot":[21,62],"is":[22,34,92],"digital":[24],"camera":[25],"oriented":[26],"map,":[32],"which":[33,56,74],"used":[35,93],"approximate":[37],"Simultaneous":[39],"Localization":[40],"and":[41,70],"Mapping":[42],"(SLAM)":[43],"problem.":[44],"We":[45],"have":[46],"divided":[47],"algorithm":[49],"into":[50],"two":[51],"steps:":[52],"(i)":[53],"action":[54],"estimation,":[55],"approximates":[57],"actions":[59],"maximizing":[63],"Mutual":[65],"between":[67],"consecutive":[68],"views;":[69],"(ii)":[71],"global":[72,80],"rectification,":[73,134],"rectifies":[75],"drift":[77],"trajectory":[81],"minimizing":[82],"entropy":[84],"map.":[87],"Moreover,":[88],"fisheye":[90],"lens":[91],"recover":[95],"enough":[96],"information":[97,119],"from":[98],"ceilings,":[99],"reducing":[100],"their":[101],"inherent":[102],"ambiguity.":[103],"Such":[104],"lenses":[105],"produce":[106],"semi-spherical":[108],"aberration":[109],"in":[110],"images,":[112],"that":[113,149],"must":[114],"be":[115],"rectified":[116],"using":[117,146],"some":[118,143],"about":[120],"calibration.":[121],"order":[123],"do":[125],"so,":[126],"propose":[128],"technique":[131],"for":[132],"image":[133],"also":[135],"Finally,":[140],"experimental":[144],"results":[145],"real":[147],"data,":[148],"prove":[150],"robustness":[152],"method.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}