{"id":"https://openalex.org/W2078475838","doi":"https://doi.org/10.1109/iros.2012.6385506","title":"Outdoor visual localization with a hand-drawn line drawing map using FastSLAM with PSO-based mapping","display_name":"Outdoor visual localization with a hand-drawn line drawing map using FastSLAM with PSO-based mapping","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2078475838","doi":"https://doi.org/10.1109/iros.2012.6385506","mag":"2078475838"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5089814003","display_name":"Keisuke Matsuo","orcid":null},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Matsuo","raw_affiliation_strings":["Department of Computer Science and Engineering, Toyohashi University of Technology, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Toyohashi University of Technology, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725508","display_name":"Jun Miura","orcid":"https://orcid.org/0000-0003-0153-2570"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Miura","raw_affiliation_strings":["Department of Computer Science and Engineering, Toyohashi University of Technology, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Toyohashi University of Technology, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136259955"],"apc_list":null,"apc_paid":null,"fwci":22.4271,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98888395,"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":"202","last_page":"207"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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":0.9976999759674072,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7454010844230652},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7433496117591858},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7216037511825562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7194273471832275},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6236332058906555},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5865700244903564},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5689243674278259},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5240938067436218},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5079923272132874},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4577033519744873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44105225801467896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.130290687084198},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07436338067054749}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7454010844230652},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7433496117591858},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7216037511825562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7194273471832275},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6236332058906555},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5865700244903564},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5689243674278259},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5240938067436218},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5079923272132874},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4577033519744873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44105225801467896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.130290687084198},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07436338067054749},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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.2012.6385506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2014001040","https://openalex.org/W2032661508","https://openalex.org/W2047147571","https://openalex.org/W2065250506","https://openalex.org/W2065385080","https://openalex.org/W2077703563","https://openalex.org/W2093119823","https://openalex.org/W2116850883","https://openalex.org/W2119058585","https://openalex.org/W2125420246","https://openalex.org/W2139371764","https://openalex.org/W2144824356","https://openalex.org/W2148820580","https://openalex.org/W2149172833","https://openalex.org/W2150839555","https://openalex.org/W2152195021","https://openalex.org/W2153304205","https://openalex.org/W2161709502","https://openalex.org/W2163207838","https://openalex.org/W2167353731","https://openalex.org/W2336416123","https://openalex.org/W2394930804","https://openalex.org/W2402846924","https://openalex.org/W2573382407","https://openalex.org/W6682324061","https://openalex.org/W6712267809"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W1941703695","https://openalex.org/W3124914020","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W2141033859","https://openalex.org/W4248382324","https://openalex.org/W2077542787","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,59,74],"a":[4,7,11,15,56,72,75,89,93],"navigation":[5],"of":[6,27],"mobile":[8],"robot":[9],"in":[10,45,92],"campus":[12],"environment":[13],"using":[14,55],"hand-drawn":[16,62],"line":[17],"drawing":[18],"building":[19],"map.":[20],"Hand-drawn":[21],"maps":[22],"often":[23],"include":[24],"various":[25],"types":[26],"uncertainty":[28],"such":[29],"as":[30],"incorrect":[31],"size/position":[32],"and":[33,48],"missing":[34],"objects,":[35],"thereby":[36],"making":[37],"it":[38],"difficult":[39],"to":[40,88],"establish":[41],"correspondence":[42],"between":[43],"objects":[44],"the":[46],"map":[47,63,80],"sensory":[49],"data.":[50],"We":[51],"solve":[52],"this":[53],"problem":[54],"SLAM":[57],"approach":[58],"an":[60,65],"input":[61],"being":[64],"initial":[66],"estimate.":[67],"The":[68,82],"proposed":[69],"method":[70,83],"combines":[71],"FastSLAM":[73],"particle":[76],"swarm":[77],"optimization":[78],"for":[79],"refinement.":[81],"has":[84],"been":[85],"successfully":[86],"applied":[87],"stereo-based":[90],"localization":[91],"real":[94],"scene.":[95]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}