{"id":"https://openalex.org/W2117481820","doi":"https://doi.org/10.1109/iros.2007.4399508","title":"Probabilistic map building considering sensor visibility for mobile robot","display_name":"Probabilistic map building considering sensor visibility for mobile robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2117481820","doi":"https://doi.org/10.1109/iros.2007.4399508","mag":"2117481820"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399508","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/A5066574884","display_name":"Kazuma Haraguchi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kazuma Haraguchi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032660436","display_name":"Nobutaka Shimada","orcid":"https://orcid.org/0000-0002-1100-087X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nobutaka Shimada","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108132696","display_name":"Yoshiaki Shirai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yoshiaki Shirai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725508","display_name":"Jun Miura","orcid":"https://orcid.org/0000-0003-0153-2570"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Miura","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.4544,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.9808653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4115","last_page":"4120"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9958000183105469,"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/T11106","display_name":"Data Management and Algorithms","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.8253293633460999},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.7498945593833923},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.707504391670227},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6809432506561279},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6265386343002319},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5762175917625427},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.5335208773612976},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.518142819404602},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.4732533097267151},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.452188640832901},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4164081811904907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32730579376220703},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2116982340812683},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17226281762123108}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8253293633460999},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.7498945593833923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.707504391670227},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6809432506561279},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6265386343002319},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5762175917625427},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.5335208773612976},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.518142819404602},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.4732533097267151},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.452188640832901},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4164081811904907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32730579376220703},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2116982340812683},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17226281762123108},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399508","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:10.1.1.654.2091","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.654.2091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://i.ci.ritsumei.ac.jp/publication/2007/20071029_haraguchi_kazuma__iros2007.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1252691739","https://openalex.org/W1498668372","https://openalex.org/W1586173270","https://openalex.org/W1611476298","https://openalex.org/W1991752086","https://openalex.org/W2103393159","https://openalex.org/W2112925202","https://openalex.org/W2125420246","https://openalex.org/W2126452743","https://openalex.org/W6634982934","https://openalex.org/W6636175460","https://openalex.org/W6675456536","https://openalex.org/W6678669752","https://openalex.org/W6678957375"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2281433634","https://openalex.org/W2143648480"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,43,59,78],"method":[4],"of":[5,36,86,90,98,113],"probabilistic":[6,60,71,104],"obstacle":[7,18],"map":[8,115,129],"building":[9,130],"based":[10,82,101],"on":[11,83,102],"Bayesian":[12,120],"estimation.":[13],"Most":[14],"active":[15],"or":[16],"passive":[17],"sensors":[19],"observe":[20],"only":[21],"the":[22,34,50,65,74,84,87,96,99,103,110],"most":[23],"frontal":[24],"objects":[25,28],"and":[26,92,108],"any":[27],"behind":[29],"them":[30],"are":[31,106,117],"occluded.":[32],"Since":[33],"observation":[35,61],"distant":[37],"places":[38],"includes":[39],"large":[40],"depth":[41],"errors,":[42],"conventional":[44],"method,":[45],"which":[46,63],"does":[47],"not":[48],"consider":[49],"sensor":[51],"occlusion":[52],"often,":[53],"generate":[54],"erroneous":[55],"maps.":[56],"We":[57,68],"introduce":[58],"model,":[62],"determines":[64],"visible":[66],"objects.":[67],"first":[69],"estimate":[70],"visibility":[72,105],"from":[73],"current":[75],"viewpoint":[76],"by":[77,119,134],"Markov":[79],"chain":[80],"model":[81],"knowledge":[85],"average":[88],"sizes":[89],"obstacles":[91],"free":[93],"areas.":[94],"Then":[95],"likelihood":[97],"observations":[100],"estimated":[107],"then":[109],"posterior":[111],"probability":[112],"each":[114],"grid":[116],"updated":[118],"update":[121],"rule.":[122],"Experimental":[123],"results":[124],"show":[125],"that":[126],"more":[127],"precise":[128],"can":[131],"be":[132],"built":[133],"this":[135],"method.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
