{"id":"https://openalex.org/W2150116172","doi":"https://doi.org/10.1109/iros.2009.5354713","title":"View-sequece based indoor/outdoor navigation robust to illumination changes","display_name":"View-sequece based indoor/outdoor navigation robust to illumination changes","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2150116172","doi":"https://doi.org/10.1109/iros.2009.5354713","mag":"2150116172"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5000482736","display_name":"Yoichiro Yamagi","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoichiro Yamagi","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070871364","display_name":"Junichi Ido","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junichi Ido","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050167539","display_name":"Kentaro Takemura","orcid":"https://orcid.org/0000-0003-4010-5045"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kentaro Takemura","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090303018","display_name":"Yoshio Matsumoto","orcid":"https://orcid.org/0000-0001-7325-9580"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshio Matsumoto","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5000482736"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":3.3984,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.92148422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1229","last_page":"1234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/robustness","display_name":"Robustness (evolution)","score":0.7965993881225586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.790337085723877},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7770364284515381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7368616461753845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5058419704437256},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5026454925537109},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49435973167419434},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.44160035252571106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1442338228225708}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7965993881225586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.790337085723877},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7770364284515381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7368616461753845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5058419704437256},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5026454925537109},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49435973167419434},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.44160035252571106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1442338228225708},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5299999713897705,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2109897681","https://openalex.org/W2114766649","https://openalex.org/W2118879395","https://openalex.org/W2153532417","https://openalex.org/W2157966922","https://openalex.org/W2169033759","https://openalex.org/W2170903322","https://openalex.org/W2172282005","https://openalex.org/W2312655979","https://openalex.org/W2320449151"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W4312219546","https://openalex.org/W2377538627","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2099811626"],"abstract_inverted_index":{"We":[0],"propose":[1,50,89],"a":[2,67,90],"view-based":[3],"indoor/outdoor":[4],"navigation":[5,17],"method":[6,18,23,32,57],"as":[7],"an":[8],"extension":[9],"of":[10,80,84],"the":[11,20,30,53,78,81,86,95,105],"view-sequence":[12,16],"navigation.":[13],"The":[14],"original":[15],"uses":[19],"template":[21,68],"matching":[22,31,56],"with":[24],"normalized":[25,82],"correlation":[26],"for":[27,43],"localization.":[28],"Because":[29],"is":[33,40,69],"sensitive":[34],"to":[35,51,58,111],"local":[36],"illumination":[37],"changes,":[38],"it":[39],"only":[41],"used":[42],"indoor":[44,113],"environment.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49],"adopt":[52],"accumulated":[54],"block":[55],"improve":[59],"robustness":[60],"against":[61],"locally":[62],"changing":[63],"illumination,":[64],"in":[65],"which":[66,93],"split":[70],"into":[71],"small":[72],"patches":[73],"and":[74,114],"matched":[75],"by":[76],"maximizing":[77],"average":[79],"correlations":[83],"all":[85],"patches.We":[87],"also":[88],"localization":[91],"criterion":[92],"helps":[94],"robot":[96],"decide":[97],"its":[98],"motion.":[99],"Our":[100],"experimental":[101],"results":[102],"demonstrate":[103],"that":[104],"proposed":[106],"methods":[107],"can":[108],"be":[109],"applied":[110],"both":[112],"outdoor":[115],"environments.":[116]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
