{"id":"https://openalex.org/W2073946099","doi":"https://doi.org/10.1109/iros.2013.6696557","title":"RGB-D based cognitive map building and navigation","display_name":"RGB-D based cognitive map building and navigation","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2073946099","doi":"https://doi.org/10.1109/iros.2013.6696557","mag":"2073946099"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5059640819","display_name":"Bo Tian","orcid":"https://orcid.org/0000-0003-1323-7878"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bo Tian","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087315970","display_name":"Vui Ann Shim","orcid":null},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Vui Ann Shim","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019553983","display_name":"Yuan Miaolong","orcid":null},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Miaolong Yuan","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033549171","display_name":"Chithra Srinivasan","orcid":null},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chithra Srinivasan","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057282687","display_name":"Huajin Tang","orcid":"https://orcid.org/0000-0002-9857-1543"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Huajin Tang","raw_affiliation_strings":["Institute for Infocomm Research, Sichuan University, Singapore, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Sichuan University, Singapore, China","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I24185976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032690182","display_name":"Haizhou Li","orcid":"https://orcid.org/0000-0001-9158-9401"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU","SG"],"is_corresponding":false,"raw_author_name":"Haizhou Li","raw_affiliation_strings":["Institute for Infocomm Research, University of New South Wales, Singapore, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, University of New South Wales, Singapore, Australia","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1562","last_page":"1567"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9958999752998352,"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/cognitive-map","display_name":"Cognitive map","score":0.7609002590179443},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7265525460243225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.723396897315979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7119619846343994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6616782546043396},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6186312437057495},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5840962529182434},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5604472160339355},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5579925179481506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4621008634567261},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4260890781879425},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.3915945291519165}],"concepts":[{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.7609002590179443},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7265525460243225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.723396897315979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7119619846343994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6616782546043396},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6186312437057495},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5840962529182434},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5604472160339355},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5579925179481506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4621008634567261},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4260890781879425},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.3915945291519165},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.5718","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.5718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www1.i2r.a-star.edu.sg/%7Ehtang/IROS2013_preprint.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W34827563","https://openalex.org/W170770739","https://openalex.org/W190507260","https://openalex.org/W1187244281","https://openalex.org/W1970792572","https://openalex.org/W1972267259","https://openalex.org/W1974093076","https://openalex.org/W2000214310","https://openalex.org/W2008936540","https://openalex.org/W2017675832","https://openalex.org/W2029309217","https://openalex.org/W2103692957","https://openalex.org/W2109197213","https://openalex.org/W2112164532","https://openalex.org/W2112669647","https://openalex.org/W2117211893","https://openalex.org/W2130422193","https://openalex.org/W2144824356","https://openalex.org/W2149422514","https://openalex.org/W2151239423","https://openalex.org/W2336416123","https://openalex.org/W6627862999"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2152464524","https://openalex.org/W2556215627"],"abstract_inverted_index":{"This":[0,97],"paper":[1],"describes":[2],"a":[3,37,49,73,86,107,111],"cognitive":[4,39,46,67,95],"map":[5,40,47,68],"building":[6],"and":[7,21,30,69],"navigation":[8],"system":[9],"using":[10],"an":[11,42],"RGB-D":[12,31,122],"sensor":[13,123],"for":[14],"mobile":[15],"robots.":[16],"A":[17,59],"brain-inspired":[18],"simultaneously":[19],"localization":[20],"mapping":[22,127],"(SLAM)":[23],"system,":[24],"that":[25,54,91,105,117],"requires":[26],"raw":[27],"odometry":[28],"data":[29],"information,":[32],"is":[33,62,85,98],"used":[34,71],"to":[35,76,80],"construct":[36,106],"spatial":[38,52],"of":[41,51,88,120],"office":[43],"environment.":[44],"The":[45,82],"contains":[48],"set":[50],"coordinates":[53],"the":[55,65,78,89,94,118,121,126],"robot":[56,79],"has":[57],"traveled.":[58],"global":[60,83],"path":[61,84,90,102,108],"extracted":[63],"from":[64,100],"built":[66],"subsequently":[70],"by":[72],"local":[74],"planner":[75],"instruct":[77],"navigate.":[81],"subset":[87],"builds":[92],"up":[93],"map.":[96,113],"different":[99],"other":[101],"planning":[103],"mechanisms":[104],"based":[109],"on":[110],"ground-truth":[112],"Experiment":[114],"results":[115],"show":[116],"employment":[119],"significantly":[124],"improves":[125],"results.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
