{"id":"https://openalex.org/W2005792360","doi":"https://doi.org/10.1109/iros.2008.4650828","title":"Induction of topological environment maps from sequences of visited places","display_name":"Induction of topological environment maps from sequences of visited places","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2005792360","doi":"https://doi.org/10.1109/iros.2008.4650828","mag":"2005792360"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/13974/1/13974.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102810463","display_name":"Florian Werner","orcid":"https://orcid.org/0000-0002-0184-2897"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"F. Werner","raw_affiliation_strings":["Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084150865","display_name":"Charles Gretton","orcid":"https://orcid.org/0000-0001-9803-0168"},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"C. Gretton","raw_affiliation_strings":["Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078908478","display_name":"Fr\u00e9d\u00e9ric Maire","orcid":"https://orcid.org/0000-0002-6212-7651"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"F. Maire","raw_affiliation_strings":["Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052016498","display_name":"Joaquin Sitte","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. Sitte","raw_affiliation_strings":["Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland Laboratory, NICTA, Saint Lucia, QLD, Australia","institution_ids":["https://openalex.org/I42894916"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":57.2387,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.99496511,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"173","issue":null,"first_page":"2890","last_page":"2895"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9993000030517578,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/adjacency-list","display_name":"Adjacency list","score":0.8405532836914062},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.7685573101043701},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.676151692867279},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.6272842884063721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.621064305305481},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5862337350845337},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4730709493160248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4697915315628052},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36046573519706726},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3542459011077881},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3223903775215149},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2875460386276245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20457583665847778},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16531842947006226},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11084967851638794},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08963218331336975},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06950312852859497}],"concepts":[{"id":"https://openalex.org/C110484373","wikidata":"https://www.wikidata.org/wiki/Q264398","display_name":"Adjacency list","level":2,"score":0.8405532836914062},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.7685573101043701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.676151692867279},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6272842884063721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.621064305305481},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5862337350845337},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4730709493160248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4697915315628052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36046573519706726},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3542459011077881},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3223903775215149},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2875460386276245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20457583665847778},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16531842947006226},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11084967851638794},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08963218331336975},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06950312852859497},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C136536468","wikidata":"https://www.wikidata.org/wiki/Q1225894","display_name":"Undersampling","level":2,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4650828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:13974","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/13974/1/13974.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:13974","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/13974/1/13974.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[{"display_name":"Life in Land","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2005792360.pdf","grobid_xml":"https://content.openalex.org/works/W2005792360.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W10852009","https://openalex.org/W1516773571","https://openalex.org/W1572206011","https://openalex.org/W1586173270","https://openalex.org/W1591939288","https://openalex.org/W1599296339","https://openalex.org/W1965849932","https://openalex.org/W2017603160","https://openalex.org/W2018706164","https://openalex.org/W2029557545","https://openalex.org/W2050781898","https://openalex.org/W2074010768","https://openalex.org/W2082092596","https://openalex.org/W2104209160","https://openalex.org/W2116833168","https://openalex.org/W2123270873","https://openalex.org/W2137396980","https://openalex.org/W2147249804","https://openalex.org/W2165661129","https://openalex.org/W2169758493","https://openalex.org/W2494517118","https://openalex.org/W2728971719","https://openalex.org/W3023109995","https://openalex.org/W6634982934","https://openalex.org/W6740810610","https://openalex.org/W6928698403"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,87,93],"problem":[6],"of":[7,37,68,98,105],"topologically":[8],"mapping":[9,99],"environments":[10,100],"which":[11,57,79],"contain":[12],"inherent":[13],"perceptual":[14,106],"aliasing":[15],"caused":[16],"by":[17,41],"repeated":[18],"environment":[19],"structures.":[20],"We":[21],"propose":[22],"an":[23,43],"approach":[24],"that":[25,92,109],"does":[26],"not":[27],"use":[28],"motion":[29],"or":[30],"odometric":[31],"information":[32,63,73],"but":[33,83],"only":[34],"a":[35,48,54,66,102,112],"sequence":[36,67],"deterministic":[38],"measurements":[39],"observed":[40],"traversing":[42],"environment.":[44],"Our":[45],"algorithm":[46],"implements":[47],"stochastic":[49],"local":[50,61,71],"search":[51],"to":[52,76,86],"build":[53],"small":[55,113],"map":[56,114],"is":[58,74,96],"consistent":[59],"with":[60,101],"adjacency":[62,72],"extracted":[64],"from":[65],"observations.":[69],"Moreover,":[70],"incorporated":[75],"disambiguate":[77],"places":[78],"are":[80],"physically":[81],"different":[82],"appear":[84],"identical":[85],"robots":[88],"senses.":[89],"Experiments":[90],"show":[91],"proposed":[94],"method":[95],"capable":[97],"high":[103],"degree":[104],"aliasing,":[107],"and":[108],"it":[110],"infers":[111],"quickly.":[115]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
