{"id":"https://openalex.org/W3093271741","doi":"https://doi.org/10.1109/iros45743.2020.9341516","title":"Lifelong update of semantic maps in dynamic environments","display_name":"Lifelong update of semantic maps in dynamic environments","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3093271741","doi":"https://doi.org/10.1109/iros45743.2020.9341516","mag":"3093271741"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341516","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.08846","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110853093","display_name":"Manjunath Narayana","orcid":null},"institutions":[{"id":"https://openalex.org/I138423393","display_name":"iRobot (United States)","ror":"https://ror.org/02ex4jy25","country_code":"US","type":"company","lineage":["https://openalex.org/I138423393"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Manjunath Narayana","raw_affiliation_strings":["iRobot Corp., Pasadena, USA","iRobot Corp.,Pasadena,USA"],"affiliations":[{"raw_affiliation_string":"iRobot Corp., Pasadena, USA","institution_ids":["https://openalex.org/I138423393"]},{"raw_affiliation_string":"iRobot Corp.,Pasadena,USA","institution_ids":["https://openalex.org/I138423393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086675026","display_name":"Andreas Kolling","orcid":"https://orcid.org/0000-0002-2679-9821"},"institutions":[{"id":"https://openalex.org/I138423393","display_name":"iRobot (United States)","ror":"https://ror.org/02ex4jy25","country_code":"US","type":"company","lineage":["https://openalex.org/I138423393"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andreas Kolling","raw_affiliation_strings":["iRobot Corp., Pasadena, USA","iRobot Corp.,Pasadena,USA"],"affiliations":[{"raw_affiliation_string":"iRobot Corp., Pasadena, USA","institution_ids":["https://openalex.org/I138423393"]},{"raw_affiliation_string":"iRobot Corp.,Pasadena,USA","institution_ids":["https://openalex.org/I138423393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054180202","display_name":"Lucio Nardelli","orcid":null},"institutions":[{"id":"https://openalex.org/I138423393","display_name":"iRobot (United States)","ror":"https://ror.org/02ex4jy25","country_code":"US","type":"company","lineage":["https://openalex.org/I138423393"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucio Nardelli","raw_affiliation_strings":["iRobot Corp., Pasadena, USA","iRobot Corp.,Pasadena,USA"],"affiliations":[{"raw_affiliation_string":"iRobot Corp., Pasadena, USA","institution_ids":["https://openalex.org/I138423393"]},{"raw_affiliation_string":"iRobot Corp.,Pasadena,USA","institution_ids":["https://openalex.org/I138423393"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101189529","display_name":"Phil Fong","orcid":null},"institutions":[{"id":"https://openalex.org/I138423393","display_name":"iRobot (United States)","ror":"https://ror.org/02ex4jy25","country_code":"US","type":"company","lineage":["https://openalex.org/I138423393"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phil Fong","raw_affiliation_strings":["iRobot Corp., Pasadena, USA","iRobot Corp.,Pasadena,USA"],"affiliations":[{"raw_affiliation_string":"iRobot Corp., Pasadena, USA","institution_ids":["https://openalex.org/I138423393"]},{"raw_affiliation_string":"iRobot Corp.,Pasadena,USA","institution_ids":["https://openalex.org/I138423393"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110853093"],"corresponding_institution_ids":["https://openalex.org/I138423393"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05919877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6164","last_page":"6171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9962999820709229,"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/robot","display_name":"Robot","score":0.7690280675888062},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.7596080303192139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7491119503974915},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.7047770023345947},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5338849425315857},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49878358840942383},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.49442434310913086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47491157054901123},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4353533387184143},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.41122448444366455},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3641601502895355},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09698587656021118},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09047603607177734}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7690280675888062},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.7596080303192139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7491119503974915},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.7047770023345947},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5338849425315857},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49878358840942383},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.49442434310913086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47491157054901123},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4353533387184143},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.41122448444366455},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3641601502895355},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09698587656021118},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09047603607177734},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341516","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"},{"id":"pmh:oai:arXiv.org:2010.08846","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.08846","pdf_url":"https://arxiv.org/pdf/2010.08846","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3093271741","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2010.08846v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2010.08846","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.08846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.08846","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.08846","pdf_url":"https://arxiv.org/pdf/2010.08846","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3093271741.pdf","grobid_xml":"https://content.openalex.org/works/W3093271741.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W186491578","https://openalex.org/W1695757689","https://openalex.org/W1875235752","https://openalex.org/W1964502729","https://openalex.org/W1973080743","https://openalex.org/W2002735182","https://openalex.org/W2033938800","https://openalex.org/W2042452952","https://openalex.org/W2049207102","https://openalex.org/W2061902052","https://openalex.org/W2073968412","https://openalex.org/W2101077466","https://openalex.org/W2104205387","https://openalex.org/W2113260736","https://openalex.org/W2129571700","https://openalex.org/W2140873064","https://openalex.org/W2142879048","https://openalex.org/W2265661972","https://openalex.org/W2560862735","https://openalex.org/W2573646622","https://openalex.org/W2771494219","https://openalex.org/W2774790542","https://openalex.org/W2886950786","https://openalex.org/W2968401241","https://openalex.org/W3003392845","https://openalex.org/W6607549188","https://openalex.org/W6637386221","https://openalex.org/W6675363061"],"related_works":["https://openalex.org/W3133273199","https://openalex.org/W2083115070","https://openalex.org/W2002735182","https://openalex.org/W2897971883","https://openalex.org/W3129238537","https://openalex.org/W2241335588","https://openalex.org/W1490171652","https://openalex.org/W3208021176","https://openalex.org/W26066642","https://openalex.org/W2186002283","https://openalex.org/W2049207102","https://openalex.org/W1156436193","https://openalex.org/W3097896090","https://openalex.org/W3104769482","https://openalex.org/W2345829113","https://openalex.org/W2060088703","https://openalex.org/W2245521715","https://openalex.org/W2274297254","https://openalex.org/W2569100269","https://openalex.org/W2317996937"],"abstract_inverted_index":{"A":[0,30],"robot":[1,26,39,85,113,191],"understands":[2],"its":[3,12,28,119],"world":[4],"through":[5,166,214],"the":[6,25,38,53,57,68,76,84,96,125,133,155,167,180,190],"raw":[7,15,71,120],"information":[8,16,35],"it":[9,142],"senses":[10,114],"from":[11],"surroundings.":[13],"This":[14],"is":[17,43,101,143],"not":[18],"suitable":[19],"as":[20,56,111],"a":[21,48,112,136,170,176,210,215],"shared":[22,49],"representation":[23],"between":[24],"and":[27,40,78,117,148,164],"user.":[29],"semantic":[31,54,99,105,181,207],"map,":[32,72],"containing":[33],"high-level":[34],"that":[36],"both":[37],"user":[41,212],"understand,":[42],"better":[44],"suited":[45],"to":[46,103,145,183],"be":[47,128,184],"representation.":[50],"We":[51,131],"use":[52],"map":[55,121,134,171,182],"user-facing":[58,206],"interface":[59],"on":[60,197],"our":[61,205],"fleet":[62],"of":[63,80,98,139,157,169,173,199],"floor-cleaning":[64,200],"robots.":[65,90],"Jitter":[66],"in":[67,75,95,122,154,202],"robot's":[69],"sensed":[70],"dynamic":[73,158],"objects":[74],"environment,":[77],"exploration":[79],"new":[81,115,187,193],"space":[82],"by":[83],"are":[86,161],"common":[87],"challenges":[88,93],"for":[89,107],"Solving":[91],"these":[92],"effectively":[94],"context":[97],"maps":[100,106,208],"key":[102],"enabling":[104],"lifelong":[108,216],"mapping.":[109],"First,":[110],"changes":[116],"alters":[118],"successive":[123],"runs,":[124],"semantics":[126,147,188],"must":[127],"updated":[129,185],"appropriately.":[130],"update":[132],"using":[135],"spatial":[137],"transfer":[138],"semantics.":[140],"Second,":[141],"important":[144],"keep":[146],"their":[149],"relative":[150],"constraints":[151],"consistent":[152],"even":[153],"presence":[156],"objects.":[159],"Inconsistencies":[160],"automatically":[162],"determined":[163],"resolved":[165],"introduction":[168],"layer":[172],"meta-semantics.":[174],"Finally,":[175],"discovery":[177],"phase":[178],"allows":[179],"with":[186],"whenever":[189],"uncovers":[192],"information.":[194],"Deployed":[195],"commercially":[196],"thousands":[198],"robots":[201],"real":[203],"homes,":[204],"provide":[209],"intuitive":[211],"experience":[213],"mapping":[217],"robot.":[218]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
