{"id":"https://openalex.org/W4312670464","doi":"https://doi.org/10.1109/iros47612.2022.9981200","title":"Efficient 2D Graph SLAM for Sparse Sensing","display_name":"Efficient 2D Graph SLAM for Sparse Sensing","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312670464","doi":"https://doi.org/10.1109/iros47612.2022.9981200"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981200","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2312.02353","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008693846","display_name":"Hanzhi Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hanzhi Zhou","raw_affiliation_strings":["University of Virginia,Department of Computer Science","Department of Computer Science, University of Virginia"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Department of Computer Science","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Computer Science, University of Virginia","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005079959","display_name":"Zichao Hu","orcid":"https://orcid.org/0009-0007-6433-8878"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zichao Hu","raw_affiliation_strings":["University of Virginia,Department of Computer Science","Department of Computer Science, University of Virginia"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Department of Computer Science","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Computer Science, University of Virginia","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101571782","display_name":"Sihang Liu","orcid":"https://orcid.org/0000-0001-7411-6418"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sihang Liu","raw_affiliation_strings":["University of Virginia,Department of Computer Science","Department of Computer Science, University of Virginia"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Department of Computer Science","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Computer Science, University of Virginia","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070152284","display_name":"Samira Khan","orcid":"https://orcid.org/0000-0002-0300-3034"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samira Khan","raw_affiliation_strings":["University of Virginia,Department of Computer Science","Department of Computer Science, University of Virginia"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Department of Computer Science","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Computer Science, University of Virginia","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008693846"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":5.6302,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97694573,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6404","last_page":"6411"},"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":0.9995999932289124,"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":0.9970999956130981,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.85562664270401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7439621090888977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5593864321708679},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5535288453102112},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5162448883056641},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48959881067276},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47866567969322205},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43814700841903687},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4172777533531189},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3569681644439697},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27439069747924805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12998530268669128},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1204649806022644}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.85562664270401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7439621090888977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5593864321708679},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5535288453102112},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5162448883056641},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48959881067276},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47866567969322205},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43814700841903687},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4172777533531189},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3569681644439697},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27439069747924805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12998530268669128},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1204649806022644},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981200","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2312.02353","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.02353","pdf_url":"https://arxiv.org/pdf/2312.02353","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2312.02353","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.02353","pdf_url":"https://arxiv.org/pdf/2312.02353","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312670464.pdf","grobid_xml":"https://content.openalex.org/works/W4312670464.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1967740178","https://openalex.org/W1990012555","https://openalex.org/W1991172434","https://openalex.org/W1999399477","https://openalex.org/W2005389775","https://openalex.org/W2049479307","https://openalex.org/W2049981393","https://openalex.org/W2080823437","https://openalex.org/W2103393159","https://openalex.org/W2109271936","https://openalex.org/W2127578024","https://openalex.org/W2130422193","https://openalex.org/W2130763585","https://openalex.org/W2137052305","https://openalex.org/W2140881794","https://openalex.org/W2143064560","https://openalex.org/W2147272792","https://openalex.org/W2149020252","https://openalex.org/W2152464524","https://openalex.org/W2154233136","https://openalex.org/W2200775394","https://openalex.org/W2225723228","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2594040127","https://openalex.org/W2758653969","https://openalex.org/W2898231767","https://openalex.org/W2926185582","https://openalex.org/W2975673761","https://openalex.org/W3102327032","https://openalex.org/W3163951850","https://openalex.org/W4243216532","https://openalex.org/W4295973626","https://openalex.org/W4312118006","https://openalex.org/W6675456536","https://openalex.org/W6763868703","https://openalex.org/W6768463959","https://openalex.org/W6795709741"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W1969901537","https://openalex.org/W2119768059"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,13,29,51,54,61,69,101,119],"mapping":[3,10],"(SLAM)":[4],"plays":[5],"a":[6,74,98,152],"vital":[7],"role":[8],"in":[9,107,149],"unknown":[11],"spaces":[12],"aiding":[14],"autonomous":[15],"navigation.":[16],"Virtually":[17],"all":[18],"state-of-the-art":[19,93],"solutions":[20],"today":[21],"for":[22,27,43,104],"2D":[23],"SLAM":[24,78,95],"are":[25,40,113],"designed":[26,114],"dense":[28],"accurate":[30],"sensors":[31,39,63],"such":[32],"as":[33],"laser":[34],"range-finders":[35],"(LiDARs).":[36],"However,":[37],"these":[38,55],"not":[41],"suitable":[42],"resource-limited":[44],"nano":[45],"robots,":[46],"which":[47,112],"become":[48],"increasingly":[49],"capable":[50,146],"ubiquitous":[52],"nowadays,":[53],"robots":[56],"tend":[57],"to":[58,115,136],"mount":[59],"economical":[60],"low-power":[62],"that":[64,125],"can":[65],"only":[66],"provide":[67],"sparse":[68,80,118,140],"noisy":[70],"measurements.":[71],"This":[72,82],"introduces":[73],"challenging":[75],"problem":[76,86],"called":[77],"with":[79,97,117,155],"sensing.":[81,141],"work":[83,116],"addresses":[84],"the":[85,89,92,108,126,162],"by":[87,129],"adopting":[88],"form":[90],"of":[91,111,147,160],"graph-based":[94],"pipeline":[96],"novel":[99],"frontend":[100],"an":[102,156],"improvement":[103],"loop":[105],"closing":[106],"backend,":[109],"both":[110],"uncertain":[120],"range":[121],"data.":[122],"Experiments":[123],"show":[124],"maps":[127],"constructed":[128],"our":[130,143],"algorithm":[131],"have":[132],"superior":[133],"quality":[134],"compared":[135],"prior":[137],"works":[138],"on":[139,151],"Furthermore,":[142],"method":[144],"is":[145],"running":[148],"real-time":[150],"modern":[153],"PC":[154],"average":[157],"processing":[158],"time":[159],"1/100th":[161],"input":[163],"interval":[164],"time.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}