{"id":"https://openalex.org/W4312359951","doi":"https://doi.org/10.1109/iros47612.2022.9982142","title":"360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM","display_name":"360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312359951","doi":"https://doi.org/10.1109/iros47612.2022.9982142"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982142","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101398940","display_name":"Hongji Liu","orcid":"https://orcid.org/0000-0002-1086-6890"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongji Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Hong Kong SAR,China","The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035324795","display_name":"Huajian Huang","orcid":"https://orcid.org/0000-0002-0963-1146"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Huajian Huang","raw_affiliation_strings":["The Hong Kong University of Science and Technology,The Department of Computer Science and Engineering","The Department of Computer Science and Engineering, The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,The Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"The Department of Computer Science and Engineering, The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027689970","display_name":"Sai-Kit Yeung","orcid":"https://orcid.org/0000-0001-7974-0607"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sai-Kit Yeung","raw_affiliation_strings":["The Hong Kong University of Science and Technology,The Department of Computer Science and Engineering","The Department of Computer Science and Engineering, The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,The Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"The Department of Computer Science and Engineering, The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I4210096887","display_name":"HKUST Shenzhen Research Institute","ror":"https://ror.org/00sz56h79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I200769079","https://openalex.org/I20231570","https://openalex.org/I4210096887","https://openalex.org/I4210147811"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Hong Kong SAR,China","HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen","The Hong Kong University of Science and Tech-nology (Guangzhou), Nansha, Guangzhou, Guangdong, China","The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen","institution_ids":["https://openalex.org/I4210096887"]},{"raw_affiliation_string":"The Hong Kong University of Science and Tech-nology (Guangzhou), Nansha, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4064,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95095303,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"802","last_page":"807"},"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":0.9976999759674072,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9955000281333923,"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/topological-map","display_name":"Topological map","score":0.8187930583953857},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7227649688720703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6617252230644226},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6144527196884155},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.611981987953186},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6042709946632385},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4917912781238556},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4854620099067688},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4547097980976105},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4255516231060028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3762056231498718},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3513230085372925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3116455078125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25614362955093384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.159549742937088}],"concepts":[{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.8187930583953857},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7227649688720703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6617252230644226},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6144527196884155},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.611981987953186},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6042709946632385},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4917912781238556},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4854620099067688},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4547097980976105},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4255516231060028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3762056231498718},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3513230085372925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3116455078125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25614362955093384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.159549742937088},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9982142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982142","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:repository.hkust.edu.hk:1783.1-124597","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85142347924&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2029067978","https://openalex.org/W2105224953","https://openalex.org/W2474281075","https://openalex.org/W2623510711","https://openalex.org/W2962794880","https://openalex.org/W2963872397","https://openalex.org/W2977977449","https://openalex.org/W2986989456","https://openalex.org/W3018757597","https://openalex.org/W3034728521","https://openalex.org/W3090459043","https://openalex.org/W3103957575","https://openalex.org/W3107577571","https://openalex.org/W3168811332","https://openalex.org/W3192660112","https://openalex.org/W4226236972","https://openalex.org/W4245826610","https://openalex.org/W4285102447","https://openalex.org/W6799986138"],"related_works":["https://openalex.org/W2950854291","https://openalex.org/W4388904787","https://openalex.org/W1994199712","https://openalex.org/W4376312333","https://openalex.org/W2110188799","https://openalex.org/W3207305163","https://openalex.org/W2140766902","https://openalex.org/W4312359951","https://openalex.org/W1968077635","https://openalex.org/W2768317343"],"abstract_inverted_index":{"As":[0],"an":[1,21],"abstract":[2],"representation":[3],"of":[4],"the":[5,34,66,75,80,96],"environment":[6,44],"structure,":[7],"a":[8],"topological":[9,23,43,53,60,76],"map":[10,61],"has":[11,65],"advantageous":[12],"properties":[13],"for":[14],"path-planning":[15],"and":[16,40,94],"navigation.":[17],"Here":[18],"we":[19,47,85],"proposed":[20],"online":[22],"mapping":[24,77],"method,":[25],"360ST-Mapping,":[26],"using":[27],"omnidirectional":[28,81],"vision.":[29],"The":[30,59],"360\u00b0":[31],"field-of-view":[32],"allows":[33],"agent":[35],"to":[36,51,68],"obtain":[37],"consistent":[38],"observation":[39],"incrementally":[41],"extract":[42],"information.":[45],"Moreover,":[46],"leverage":[48],"semantic":[49,63],"infor-mation":[50,64],"guide":[52],"place":[54],"recognition,":[55],"further":[56],"improving":[57],"performance.":[58],"possessing":[62],"potential":[67],"support":[69],"semantics-related":[70],"advanced":[71],"tasks.":[72],"After":[73],"integrating":[74],"module":[78],"into":[79],"visual":[82],"SLAM":[83],"system,":[84],"conducted":[86],"extensive":[87],"experiments":[88],"in":[89],"several":[90],"large-scale":[91],"indoor":[92],"scenes":[93],"validated":[95],"method's":[97],"effectiveness.":[98]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}