{"id":"https://openalex.org/W2197753540","doi":"https://doi.org/10.1109/iros.2015.7353918","title":"Using n-grams of spatial densities to construct maps","display_name":"Using n-grams of spatial densities to construct maps","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2197753540","doi":"https://doi.org/10.1109/iros.2015.7353918","mag":"2197753540"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5088943723","display_name":"Renan Maffei","orcid":"https://orcid.org/0000-0003-0637-9747"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Renan Maffei","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033790824","display_name":"Vitor A. M. Jorge","orcid":"https://orcid.org/0000-0003-1620-852X"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vitor A. M. Jorge","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079181491","display_name":"V\u00edtor Fortes Rey","orcid":"https://orcid.org/0000-0002-8371-2921"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vitor F. Rey","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109075919","display_name":"Guilherme S. Franco","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme S. Franco","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038834861","display_name":"Mariane Giambastiani","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariane Giambastiani","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jessica Barbosa","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jessica Barbosa","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020629420","display_name":"Mariana Kolberg","orcid":"https://orcid.org/0000-0002-8117-4402"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariana Kolberg","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002969213","display_name":"Edson Prestes","orcid":"https://orcid.org/0000-0003-3691-4253"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Edson Prestes","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130442723"],"apc_list":null,"apc_paid":null,"fwci":0.8911,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76649623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3850","last_page":"3855"},"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":0.9987999796867371,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.739463746547699},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6045496463775635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5994303822517395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5914852023124695},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.5400053262710571},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5353228449821472},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5170974731445312},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48493483662605286},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4642435312271118},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4642421007156372},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4624502956867218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44700267910957336},{"id":"https://openalex.org/keywords/kernel-density-estimation","display_name":"Kernel density estimation","score":0.44681787490844727},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44605544209480286},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4327068328857422},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42323988676071167},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3939515948295593},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.37850621342658997},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34026873111724854},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2884340286254883},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13104185461997986},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1248953640460968}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.739463746547699},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6045496463775635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5994303822517395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914852023124695},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.5400053262710571},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5353228449821472},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5170974731445312},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48493483662605286},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4642435312271118},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4642421007156372},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4624502956867218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44700267910957336},{"id":"https://openalex.org/C71134354","wikidata":"https://www.wikidata.org/wiki/Q458825","display_name":"Kernel density estimation","level":3,"score":0.44681787490844727},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44605544209480286},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4327068328857422},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42323988676071167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3939515948295593},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.37850621342658997},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34026873111724854},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2884340286254883},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13104185461997986},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1248953640460968},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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":1,"locations":[{"id":"doi:10.1109/iros.2015.7353918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1483002447","https://openalex.org/W1586467548","https://openalex.org/W1673973356","https://openalex.org/W1982452847","https://openalex.org/W1989484209","https://openalex.org/W2022686119","https://openalex.org/W2058773215","https://openalex.org/W2080823437","https://openalex.org/W2088500398","https://openalex.org/W2099576286","https://openalex.org/W2110405746","https://openalex.org/W2119851068","https://openalex.org/W2123417757","https://openalex.org/W2133048394","https://openalex.org/W2147000823","https://openalex.org/W2168682718","https://openalex.org/W2293047233","https://openalex.org/W6678525245"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W2091861768","https://openalex.org/W3016861202","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2196111060","https://openalex.org/W2149015029","https://openalex.org/W2807666361"],"abstract_inverted_index":{"Place":[0],"recognition":[1],"is":[2,112,128],"the":[3,23,76,85,100],"frond-end":[4],"of":[5,17,58,87,91,102,104,114,120],"Simultaneous":[6],"Localization":[7],"and":[8,51,93,135],"Mapping":[9],"(SLAM).":[10],"Topological":[11],"representations":[12],"depend":[13],"on":[14,22,64,84],"good":[15],"association":[16],"vertices,":[18],"which":[19],"ultimately":[20],"depends":[21],"front-end.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"consider":[29],"a":[30,40,47,118],"robot":[31],"lost":[32],"in":[33,133],"an":[34,59],"unknown":[35],"environment":[36],"trying":[37],"to":[38,43,69],"construct":[39],"topological":[41],"map":[42,77],"localize":[44],"itself":[45],"using":[46],"laser":[48],"range":[49],"finder":[50],"odometry":[52],"information.":[53],"The":[54,72,109,126],"algorithm":[55],"makes":[56],"use":[57],"efficient":[60],"observation":[61,73],"model":[62,74],"based":[63,83],"kernel":[65],"density":[66,86],"estimates":[67],"(KDEs)":[68],"detect":[70],"loops.":[71],"separates":[75],"into":[78],"regions":[79],"denominated":[80],"words,":[81],"classified":[82],"free":[88],"space,":[89],"number":[90],"observations":[92],"segment":[94],"orientation.":[95],"Loop":[96],"closing":[97],"results":[98],"from":[99],"matching":[101],"sequences":[103],"N":[105],"consecutive":[106],"words":[107],"(n-grams).":[108],"proposed":[110],"approach":[111],"orders":[113],"magnitude":[115],"faster":[116],"than":[117],"sequence":[119],"Iterative":[121],"Closest":[122],"Point":[123],"(ICP)":[124],"matches.":[125],"method":[127],"evaluated":[129],"varying":[130],"input":[131],"parameters":[132],"real":[134],"simulated":[136],"scenarios.":[137]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}