{"id":"https://openalex.org/W3003778718","doi":"https://doi.org/10.1109/iros40897.2019.8967853","title":"Virtual Maps for Autonomous Exploration with Pose SLAM","display_name":"Virtual Maps for Autonomous Exploration with Pose SLAM","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003778718","doi":"https://doi.org/10.1109/iros40897.2019.8967853","mag":"3003778718"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5090819950","display_name":"Jinkun Wang","orcid":"https://orcid.org/0000-0001-7030-5035"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinkun Wang","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035486248","display_name":"Tixiao Shan","orcid":"https://orcid.org/0000-0003-0988-0799"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tixiao Shan","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":4.3758,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94719001,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4899","last_page":"4906"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8492673635482788},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7781752347946167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7395212650299072},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6914031505584717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6673867106437683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5801602005958557},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5341533422470093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5036954283714294},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.4712265729904175},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4404789209365845},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12358206510543823},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.12185463309288025},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11049681901931763}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8492673635482788},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7781752347946167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7395212650299072},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6914031505584717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6673867106437683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5801602005958557},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5341533422470093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5036954283714294},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.4712265729904175},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4404789209365845},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12358206510543823},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.12185463309288025},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11049681901931763}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1535541145","https://openalex.org/W1547347985","https://openalex.org/W1551362180","https://openalex.org/W1573725801","https://openalex.org/W1684737195","https://openalex.org/W1826354755","https://openalex.org/W1968315983","https://openalex.org/W1988757690","https://openalex.org/W1997188340","https://openalex.org/W2056554710","https://openalex.org/W2059279601","https://openalex.org/W2064169939","https://openalex.org/W2095010934","https://openalex.org/W2107667896","https://openalex.org/W2109142140","https://openalex.org/W2121658992","https://openalex.org/W2133844819","https://openalex.org/W2143964548","https://openalex.org/W2144859729","https://openalex.org/W2161123599","https://openalex.org/W2172103629","https://openalex.org/W2346044757","https://openalex.org/W2409009991","https://openalex.org/W2461937780","https://openalex.org/W2527172881","https://openalex.org/W2564666437","https://openalex.org/W2739036405","https://openalex.org/W2774206966","https://openalex.org/W2798278946","https://openalex.org/W2909908358","https://openalex.org/W2910961354","https://openalex.org/W2963046720","https://openalex.org/W2990723925","https://openalex.org/W3098085399","https://openalex.org/W3099455272","https://openalex.org/W3124420883","https://openalex.org/W6770450912"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W4243161226","https://openalex.org/W2950647290","https://openalex.org/W2142338363","https://openalex.org/W1581933381","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"We":[0,42,96],"consider":[1],"the":[2,16,68,98],"problem":[3],"of":[4,70,76],"autonomous":[5],"mobile":[6],"robot":[7],"exploration":[8,30,112],"in":[9,73,100,111],"an":[10,29,127],"unknown":[11,56],"environment":[12],"taking":[13],"into":[14],"account":[15],"robot's":[17],"mapping":[18,117],"rate,":[19],"map":[20],"uncertainty,":[21,65],"and":[22,61,89,118],"state":[23,72],"estimation":[24],"uncertainty.":[25],"This":[26],"paper":[27],"presents":[28],"framework":[31],"built":[32],"upon":[33],"segment-aided":[34],"pose":[35],"SLAM":[36],"adapted":[37],"for":[38],"better":[39],"active":[40],"localization.":[41],"build":[43],"on":[44,48,126],"our":[45,105],"previous":[46],"work":[47],"expectation":[49],"maximization":[50],"(EM)":[51],"exploration,":[52],"which":[53],"explicitly":[54],"models":[55],"landmarks":[57],"as":[58,113,115],"latent":[59],"variables":[60],"predicts":[62],"their":[63],"expected":[64],"to":[66],"resolve":[67],"lack":[69],"landmark":[71],"denser":[74],"instances":[75],"SLAM.":[77],"The":[78,121],"proposed":[79],"system":[80],"comprises":[81],"path":[82],"generation,":[83],"place":[84],"recognition":[85],"forecasting,":[86],"belief":[87],"propagation":[88],"utility":[90],"evaluation":[91],"using":[92],"a":[93],"virtual":[94],"map.":[95],"analyze":[97],"performance":[99],"simulated":[101],"experiments,":[102],"showing":[103],"that":[104],"algorithm":[106],"maintains":[107],"higher":[108],"coverage":[109],"speed":[110],"well":[114],"lower":[116],"localization":[119],"error.":[120],"real-time":[122],"applicability":[123],"is":[124],"demonstrated":[125],"unmanned":[128],"ground":[129],"vehicle.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
