{"id":"https://openalex.org/W3209922020","doi":"https://doi.org/10.1109/iros47612.2022.9981362","title":"A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor","display_name":"A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W3209922020","doi":"https://doi.org/10.1109/iros47612.2022.9981362","mag":"3209922020"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981362","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1663430","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072201303","display_name":"Genghang Zhuang","orcid":"https://orcid.org/0000-0003-2478-7912"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Genghang Zhuang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102662510","display_name":"Yuhong Huang","orcid":"https://orcid.org/0000-0001-6136-6864"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yuhong Huang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768452","display_name":"Kai Huang","orcid":"https://orcid.org/0000-0003-0359-7810"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Huang","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering","Pazhou Laboratory, China","School of Computer Science and Engineering, Sun Yat-sen University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Pazhou Laboratory, China","institution_ids":[]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13136","last_page":"13142"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958000183105469,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/lidar","display_name":"Lidar","score":0.9222586154937744},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7477125525474548},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7107206583023071},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7048643231391907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6946675181388855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6910595297813416},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5615987181663513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5092295408248901},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.49282601475715637},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3719331622123718},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3232117295265198},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18159091472625732},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08472436666488647}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9222586154937744},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7477125525474548},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7107206583023071},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7048643231391907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6946675181388855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6910595297813416},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5615987181663513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5092295408248901},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.49282601475715637},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3719331622123718},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3232117295265198},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18159091472625732},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08472436666488647},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981362","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:mediatum.ub.tum.de:node/1663430","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1663430","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1663430","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1663430","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W1968399385","https://openalex.org/W1968533788","https://openalex.org/W1970792572","https://openalex.org/W1999050017","https://openalex.org/W1999286188","https://openalex.org/W2032163292","https://openalex.org/W2049479307","https://openalex.org/W2052515926","https://openalex.org/W2073946099","https://openalex.org/W2087298647","https://openalex.org/W2112669647","https://openalex.org/W2121780146","https://openalex.org/W2123213117","https://openalex.org/W2130422193","https://openalex.org/W2131357693","https://openalex.org/W2147027939","https://openalex.org/W2149422514","https://openalex.org/W2151990639","https://openalex.org/W2159951683","https://openalex.org/W2161338791","https://openalex.org/W2167403166","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W2560609797","https://openalex.org/W2562105614","https://openalex.org/W2621274416","https://openalex.org/W2746973055","https://openalex.org/W2783525259","https://openalex.org/W2798965597","https://openalex.org/W2799742631","https://openalex.org/W2890344110","https://openalex.org/W2908544477","https://openalex.org/W2944296259","https://openalex.org/W2955532351","https://openalex.org/W2960575309","https://openalex.org/W2979058050","https://openalex.org/W3096541186","https://openalex.org/W3216484682","https://openalex.org/W4229058216","https://openalex.org/W4236965008","https://openalex.org/W4300779259","https://openalex.org/W6756486208","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4313854656","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W2970345194","https://openalex.org/W4200210047"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,11,48,67,90,104,131,134],"mapping":[3],"(SLAM)":[4],"is":[5,79,135],"one":[6],"of":[7,81],"the":[8,23,50,58,71,83,87,91,95,106,114,118,124,138],"essential":[9],"techniques":[10],"functionalities":[12],"used":[13],"by":[14,22],"robots":[15],"to":[16,43,99],"perform":[17],"autonomous":[18],"navigation":[19],"tasks.":[20],"Inspired":[21],"rodent":[24],"hippocampus,":[25],"this":[26],"paper":[27],"presents":[28],"a":[29,36,40,45,101],"biologically":[30,59],"inspired":[31,60],"SLAM":[32,72,120,141],"system":[33,73,121],"based":[34],"on":[35,57],"LiDAR":[37,75,88,96,115],"sensor":[38],"using":[39,74],"hippocampal":[41],"model":[42],"build":[44,100],"cognitive":[46,102],"map":[47,103],"estimate":[49,105],"robot":[51,107],"pose":[52],"in":[53,128],"indoor":[54,132],"environments.":[55],"Based":[56],"models":[61],"mimicking":[62],"boundary":[63,92,97,116],"cells,":[64,66,70],"place":[65],"head":[68],"direction":[69],"point":[76],"cloud":[77],"data":[78],"capable":[80],"leveraging":[82],"self-motion":[84],"cues":[85,93],"from":[86,94],"odometry":[89],"cells":[98,117],"pose.":[108],"Experiment":[109],"results":[110],"show":[111],"that":[112],"with":[113,137],"proposed":[119],"greatly":[122],"outperforms":[123],"camera-based":[125],"brain-inspired":[126],"method":[127],"both":[129],"simulation":[130],"environments,":[133],"competitive":[136],"conventional":[139],"LiDAR-based":[140],"methods.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}