{"id":"https://openalex.org/W2911107863","doi":"https://doi.org/10.1109/iros.2018.8593750","title":"Semi-Supervised SLAM: Leveraging Low-Cost Sensors on Underground Autonomous Vehicles for Position Tracking","display_name":"Semi-Supervised SLAM: Leveraging Low-Cost Sensors on Underground Autonomous Vehicles for Position Tracking","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2911107863","doi":"https://doi.org/10.1109/iros.2018.8593750","mag":"2911107863"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/124690/10/124690.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018831111","display_name":"Adam Jacobson","orcid":"https://orcid.org/0000-0002-8452-261X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Adam Jacobson","raw_affiliation_strings":["Queensland University of Technology, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101564391","display_name":"Fan Zeng","orcid":"https://orcid.org/0000-0002-2564-7260"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fan Zeng","raw_affiliation_strings":["Queensland University of Technology, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007760236","display_name":"David Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I1299951241","display_name":"Caterpillar (United States)","ror":"https://ror.org/01qhm7e49","country_code":"US","type":"company","lineage":["https://openalex.org/I1299951241"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Smith","raw_affiliation_strings":["Caterpillar, Inc"],"affiliations":[{"raw_affiliation_string":"Caterpillar, Inc","institution_ids":["https://openalex.org/I1299951241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060351688","display_name":"Nigel Boswell","orcid":null},"institutions":[{"id":"https://openalex.org/I1299951241","display_name":"Caterpillar (United States)","ror":"https://ror.org/01qhm7e49","country_code":"US","type":"company","lineage":["https://openalex.org/I1299951241"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nigel Boswell","raw_affiliation_strings":["Caterpillar, Inc"],"affiliations":[{"raw_affiliation_string":"Caterpillar, Inc","institution_ids":["https://openalex.org/I1299951241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thierry Peynot","raw_affiliation_strings":["Queensland University of Technology, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5018831111"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":42.0907,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99523681,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3970","last_page":"3977"},"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":0.9994000196456909,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/frame","display_name":"Frame (networking)","score":0.6832066774368286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6785231828689575},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6188414096832275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5968412160873413},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5587039589881897},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5418087244033813},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5197107791900635},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49082884192466736},{"id":"https://openalex.org/keywords/underground-mining","display_name":"Underground mining (soft rock)","score":0.4795548617839813},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.43772608041763306},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38297852873802185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31932783126831055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1880384087562561},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17076483368873596},{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.09116929769515991}],"concepts":[{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6832066774368286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6785231828689575},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6188414096832275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5968412160873413},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5587039589881897},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5418087244033813},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5197107791900635},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49082884192466736},{"id":"https://openalex.org/C2780486870","wikidata":"https://www.wikidata.org/wiki/Q105965361","display_name":"Underground mining (soft rock)","level":4,"score":0.4795548617839813},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.43772608041763306},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38297852873802185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31932783126831055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1880384087562561},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17076483368873596},{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.09116929769515991},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:124690","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124690/10/124690.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:124690","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124690/10/124690.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"},{"id":"https://openalex.org/F4320321995","display_name":"Queensland Government","ror":"https://ror.org/037405308"},{"id":"https://openalex.org/F4320335344","display_name":"Advance Queensland","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2911107863.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W92136900","https://openalex.org/W301022506","https://openalex.org/W1505859121","https://openalex.org/W1567186765","https://openalex.org/W2003919215","https://openalex.org/W2024908906","https://openalex.org/W2032163292","https://openalex.org/W2045903504","https://openalex.org/W2078576466","https://openalex.org/W2094602152","https://openalex.org/W2101648351","https://openalex.org/W2110405746","https://openalex.org/W2115675575","https://openalex.org/W2121013842","https://openalex.org/W2121780146","https://openalex.org/W2125838338","https://openalex.org/W2131497551","https://openalex.org/W2136956710","https://openalex.org/W2143864104","https://openalex.org/W2152671441","https://openalex.org/W2158290949","https://openalex.org/W2163605009","https://openalex.org/W2215511705","https://openalex.org/W2293047233","https://openalex.org/W2293882161","https://openalex.org/W2310169997","https://openalex.org/W2338856263","https://openalex.org/W2535547924","https://openalex.org/W3102327032","https://openalex.org/W6603773036","https://openalex.org/W6670077187","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2163016745","https://openalex.org/W3112995165","https://openalex.org/W2167310049","https://openalex.org/W2331981328","https://openalex.org/W3005655766"],"abstract_inverted_index":{"This":[0,35],"work":[1,36],"presents":[2],"Semi-Supervised":[3],"SLAM":[4],"-":[5,45,51],"a":[6,10,42,47,71,77,88,99,168,176],"method":[7,162],"for":[8,13,94],"developing":[9],"map":[11,50,58,65,89],"suitable":[12],"coarse":[14],"localization":[15,69,97,105,152,165],"within":[16,41,60,70,98,122],"an":[17,123,150],"underground":[18,119,125],"environment":[19,44,134],"with":[20,24],"minimal":[21,83],"human":[22],"intervention,":[23],"system":[25,142],"characteristics":[26],"driven":[27],"by":[28,113,128],"real-world":[29],"requirements":[30],"of":[31,107,145],"major":[32],"mining":[33,43,100,120],"companies.":[34],"leverages":[37],"existing":[38],"information":[39,85],"common":[40,131],"namely":[46],"surveyed":[48],"mine":[49,62,126],"which":[52,90,148],"is":[53,143,174,187],"used":[54,93],"to":[55,86,132,167,180,189],"sparsely":[56],"ground":[57],"locations":[59],"the":[61,104,108,133,158],"environment,":[63],"increasing":[64],"accuracy":[66],"and":[67,82,127,138,183,186],"allowing":[68],"global":[72],"frame.":[73],"Map":[74],"creation":[75],"utilizes":[76],"low":[78],"cost":[79],"camera":[80,96],"sensor":[81],"user":[84],"produce":[87],"can":[91],"be":[92],"single":[95],"environment.":[101],"We":[102],"evaluate":[103],"capabilities":[106],"proposed":[109,141],"approach":[110,172],"in":[111],"depth":[112],"performing":[114,161],"data":[115],"collection":[116],"on":[117],"operational":[118],"vehicles":[121],"active":[124],"simulating":[129],"occlusions":[130],"such":[135],"as":[136],"dust":[137],"water.":[139],"The":[140],"capable":[144],"producing":[146],"maps":[147],"have":[149],"average":[151],"error":[153],"2.5":[154],"times":[155],"smaller":[156],"than":[157],"next":[159],"best":[160],"ORB-SLAM2,":[163],"comparable":[164],"performance":[166],"state-of-the-art":[169],"deep":[170],"learning":[171],"(which":[173],"not":[175],"feasible":[177],"solution":[178],"due":[179],"both":[181],"compute":[182],"training":[184],"requirements)":[185],"robust":[188],"simulated":[190],"environmental":[191],"obscurants.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":9}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
