{"id":"https://openalex.org/W1994213027","doi":"https://doi.org/10.1109/iros.2014.6943271","title":"Place recognition and self-localization in interior hallways by indoor mobile robots: A signature-based cascaded filtering framework","display_name":"Place recognition and self-localization in interior hallways by indoor mobile robots: A signature-based cascaded filtering framework","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1994213027","doi":"https://doi.org/10.1109/iros.2014.6943271","mag":"1994213027"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5091249460","display_name":"Khalil M. Ahmad Yousef","orcid":"https://orcid.org/0000-0002-0737-4107"},"institutions":[{"id":"https://openalex.org/I157392197","display_name":"Hashemite University","ror":"https://ror.org/04a1r5z94","country_code":"JO","type":"education","lineage":["https://openalex.org/I157392197"]},{"id":"https://openalex.org/I153687341","display_name":"Zarqa University","ror":"https://ror.org/01wf1es90","country_code":"JO","type":"education","lineage":["https://openalex.org/I153687341"]}],"countries":["JO"],"is_corresponding":true,"raw_author_name":"Khalil M. Ahmad Yousef","raw_affiliation_strings":["Computer Engineering Department, Purdue University, Zarqa, Jordan","Hashemite University"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, Purdue University, Zarqa, Jordan","institution_ids":["https://openalex.org/I153687341"]},{"raw_affiliation_string":"Hashemite University","institution_ids":["https://openalex.org/I157392197"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058723279","display_name":"Johnny Park","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Johnny Park","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","Purdue University West Lafayette, West Lafayette, United States"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Purdue University West Lafayette, West Lafayette, United States","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110382122","display_name":"Avinash C. Kak","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avinash C. Kak","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","Purdue University West Lafayette, West Lafayette, United States"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Purdue University West Lafayette, West Lafayette, United States","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091249460"],"corresponding_institution_ids":["https://openalex.org/I153687341","https://openalex.org/I157392197"],"apc_list":null,"apc_paid":null,"fwci":0.8098,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79681876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"4989","last_page":"4996"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.7345849871635437},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.7006528377532959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6375137567520142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5753370523452759},{"id":"https://openalex.org/keywords/signature","display_name":"Signature (topology)","score":0.5746687054634094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.572813093662262},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.497379332780838},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4799104630947113},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4654686450958252},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3806501626968384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15389633178710938}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7345849871635437},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7006528377532959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6375137567520142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5753370523452759},{"id":"https://openalex.org/C2779696439","wikidata":"https://www.wikidata.org/wiki/Q7512811","display_name":"Signature (topology)","level":2,"score":0.5746687054634094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.572813093662262},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.497379332780838},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4799104630947113},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4654686450958252},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3806501626968384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15389633178710938},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W228564586","https://openalex.org/W1489752420","https://openalex.org/W1602492899","https://openalex.org/W1800532924","https://openalex.org/W1856691922","https://openalex.org/W2024201805","https://openalex.org/W2046166954","https://openalex.org/W2082092596","https://openalex.org/W2089332616","https://openalex.org/W2096362853","https://openalex.org/W2125795712","https://openalex.org/W2127513179","https://openalex.org/W2137204431","https://openalex.org/W2144645463","https://openalex.org/W2151103935","https://openalex.org/W2167903747","https://openalex.org/W2170102584","https://openalex.org/W2539033431","https://openalex.org/W6609022182","https://openalex.org/W6629112210","https://openalex.org/W6635881828","https://openalex.org/W6638598414","https://openalex.org/W6639045164","https://openalex.org/W6910061780"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W2117825986","https://openalex.org/W3134067061","https://openalex.org/W2079855347"],"abstract_inverted_index":{"We":[0],"present":[1,214],"a":[2,11,18,26,41,45,60,68,134,148,220,225,274,280,295,303,334],"robot":[3,58,78,141,304],"self-localization":[4],"approach":[5,76],"that":[6,15,142,179,182,244,269,320],"is":[7,24,80,181],"based":[8,240,293],"on":[9,241,294],"using":[10],"cascade":[12,39,107,163,222],"of":[13,37,48,56,62,88,101,105,136,204,224,251,284,297],"filters":[14,185,205],"increasingly":[16,188],"refine":[17],"robot's":[19],"guess":[20],"regarding":[21],"where":[22],"it":[23],"in":[25,74,161,215,236,273,316],"hallway":[27,277],"system.":[28],"The":[29,117,232,253,287,312],"location":[30,55,146],"refinement":[31],"carried":[32],"out":[33],"by":[34,175,228,302,333],"each":[35,86],"stage":[36,87,104,264,268],"the":[38,53,57,89,98,102,106,114,140,144,152,155,162,168,172,176,183,195,208,211,258,262,266,306],"compares":[40],"signature":[42,118],"extracted":[43,247],"from":[44,171,248,305],"stereo":[46,249,299],"pair":[47],"camera":[49],"images":[50,300],"taken":[51],"at":[52],"current":[54],"with":[59,147,279,329],"database":[61],"such":[63],"signatures":[64,82,233,260],"collected":[65,301],"previously":[66],"during":[67,308],"training":[69,310],"phase.":[70,311],"A":[71],"central":[72],"question":[73,95],"this":[75,94,112,216,317],"to":[77,83,93,111,132,206,325],"localization":[79,327],"what":[81],"use":[84,235],"for":[85,120,139,158,200,219,256,261],"cascade.":[90],"An":[91],"answer":[92],"must":[96,122,164,186],"recognize":[97],"special":[99],"importance":[100],"first":[103],"\u2014":[108],"we":[109,197,213,234,290],"refer":[110],"as":[113],"prefiltering":[115,121,209,263],"stage.":[116],"used":[119,157],"be":[123,187,246],"significantly":[124],"viewpoint":[125,189],"invariant,":[126],"while":[127],"possessing":[128],"sufficient":[129],"locale":[130,192],"uniqueness":[131],"yield":[133],"set":[135],"possible":[137],"locations":[138],"includes":[143],"true":[145],"high":[149,326],"probability.":[150],"On":[151],"other":[153],"hand,":[154],"signature(s)":[156],"downstream":[159,184],"filtering":[160,267],"then":[165],"prune":[166],"away":[167],"inapplicable":[169],"locales":[170],"list":[173],"yielded":[174],"prefilter.":[177],"What":[178],"implies":[180],"variant":[190],"and":[191,265],"specific.":[193],"Although":[194],"framework":[196,255,322],"propose":[198],"allows":[199],"an":[201],"arbitrary":[202],"number":[203],"follow":[207],"stage,":[210],"results":[212,289],"paper":[217,318],"are":[218,239,292],"two-stage":[221],"consisting":[223],"prefilter":[226],"followed":[227],"one":[229],"additional":[230],"filter.":[231],"our":[237,321],"experiments":[238],"3D-JUDOCA":[242],"features":[243],"can":[245,323],"pairs":[250],"images.":[252],"proposed":[254],"choosing":[257],"best":[259],"follows":[270],"was":[271],"tested":[272],"large":[275],"indoor":[276],"system":[278],"total":[281],"linear":[282],"length":[283],"1539":[285],"m.":[286],"validation":[288],"show":[291],"dataset":[296],"6209":[298],"hallways":[307],"its":[309],"performance":[313,332],"evaluation":[314],"presented":[315],"demonstrates":[319],"lead":[324],"accuracy":[328],"good":[330],"time":[331],"robot.":[335]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
