{"id":"https://openalex.org/W3130548322","doi":"https://doi.org/10.1109/iros45743.2020.9341284","title":"HouseExpo: A Large-scale 2D Indoor Layout Dataset for Learning-based Algorithms on Mobile Robots","display_name":"HouseExpo: A Large-scale 2D Indoor Layout Dataset for Learning-based Algorithms on Mobile Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130548322","doi":"https://doi.org/10.1109/iros45743.2020.9341284","mag":"3130548322"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5083545249","display_name":"Tingguang Li","orcid":"https://orcid.org/0000-0003-1161-9987"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Tingguang Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072824702","display_name":"Danny Ho","orcid":"https://orcid.org/0000-0002-3748-6345"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Danny Ho","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100703818","display_name":"Chenming Li","orcid":"https://orcid.org/0000-0001-6322-0834"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chenming Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072234330","display_name":"Delong Zhu","orcid":"https://orcid.org/0000-0002-1143-7860"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Delong Zhu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083545249"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":60.2277,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99754011,"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":"5839","last_page":"5846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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/T12546","display_name":"Smart Parking Systems Research","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/computer-science","display_name":"Computer science","score":0.8218510746955872},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6015793681144714},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5778781175613403},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5698724985122681},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5586341023445129},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5578010678291321},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5466887354850769},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4972248375415802},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.49630433320999146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4932329058647156},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4880779981613159},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4846806824207306},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.44037479162216187},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3549523949623108},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34526047110557556}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8218510746955872},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6015793681144714},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5778781175613403},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5698724985122681},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5586341023445129},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5578010678291321},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5466887354850769},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4972248375415802},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.49630433320999146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4932329058647156},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4880779981613159},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4846806824207306},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.44037479162216187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3549523949623108},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34526047110557556},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1586102543","https://openalex.org/W1967740178","https://openalex.org/W1969483458","https://openalex.org/W1976953317","https://openalex.org/W2006003168","https://openalex.org/W2044164936","https://openalex.org/W2065429801","https://openalex.org/W2130422193","https://openalex.org/W2145339207","https://openalex.org/W2166165238","https://openalex.org/W2410369356","https://openalex.org/W2557465155","https://openalex.org/W2587815505","https://openalex.org/W2736601468","https://openalex.org/W2752596383","https://openalex.org/W2760434108","https://openalex.org/W2766447205","https://openalex.org/W2771342126","https://openalex.org/W2883869105","https://openalex.org/W2891234582","https://openalex.org/W2953127211","https://openalex.org/W2962793336","https://openalex.org/W2962887844","https://openalex.org/W2963428623","https://openalex.org/W2964339842","https://openalex.org/W3011646207","https://openalex.org/W3022310485","https://openalex.org/W3099971253","https://openalex.org/W3113535661","https://openalex.org/W6684617737","https://openalex.org/W6741002519","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"As":[0],"one":[1],"of":[2,32,42,62,142],"the":[3,30,39,66,104,111,140,148,163,169],"most":[4],"promising":[5],"areas,":[6],"mobile":[7,54],"robots":[8],"draw":[9],"much":[10],"attention":[11],"these":[12],"years.":[13],"Current":[14],"work":[15],"in":[16,22,69,90,131],"this":[17,70],"field":[18],"is":[19],"often":[20],"evaluated":[21],"a":[23,33,59,75,96,128],"few":[24],"manually":[25],"designed":[26],"scenarios,":[27],"due":[28],"to":[29,49,53,102,120,138],"lack":[31],"common":[34],"experimental":[35],"platform.":[36],"Meanwhile,":[37],"with":[38],"recent":[40],"development":[41],"deep":[43],"learning":[44,129],"techniques,":[45],"some":[46],"researchers":[47],"attempt":[48],"apply":[50],"learning-based":[51],"methods":[52],"robot":[55],"tasks,":[56],"which":[57],"requires":[58],"substantial":[60],"amount":[61],"data.":[63],"To":[64],"satisfy":[65],"underlying":[67],"demand,":[68],"paper":[71],"we":[72,93,117,156],"build":[73,118],"HouseExpo,":[74],"large-scale":[76],"indoor":[77],"layout":[78],"dataset":[79],"containing":[80],"35,":[81],"126":[82],"2D":[83],"floor":[84],"plans":[85],"including":[86],"252,":[87],"550":[88],"rooms":[89],"total.":[91],"Together":[92],"develop":[94],"PseudoSLAM,":[95],"lightweight":[97],"and":[98,124,145,150,155,159,167],"efficient":[99],"simulation":[100,132],"platform":[101],"accelerate":[103],"data":[105,149,166],"generation":[106],"procedure,":[107],"thereby":[108],"speeding":[109],"up":[110],"training":[112],"process.":[113],"In":[114],"our":[115,143],"experiments,":[116],"models":[119],"tackle":[121],"obstacle":[122],"avoidance":[123],"autonomous":[125],"exploration":[126],"from":[127],"perspective":[130],"as":[133,135],"well":[134],"real-world":[136],"experiments":[137],"verify":[139],"effectiveness":[141],"simulator":[144],"dataset.":[146],"All":[147],"codes":[151],"are":[152],"available":[153],"online":[154],"hope":[157],"HouseExpo":[158],"PseudoSLAM":[160],"can":[161],"feed":[162],"need":[164],"for":[165],"benefit":[168],"whole":[170],"community.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}