{"id":"https://openalex.org/W4389667361","doi":"https://doi.org/10.1109/iros55552.2023.10342198","title":"RaSpectLoc: RAman SPECTroscopy-dependent robot LOCalisation","display_name":"RaSpectLoc: RAman SPECTroscopy-dependent robot LOCalisation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667361","doi":"https://doi.org/10.1109/iros55552.2023.10342198"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5092897594","display_name":"Christopher Thirgood","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Thirgood","raw_affiliation_strings":["University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033644268","display_name":"Oscar M\u00e9ndez","orcid":"https://orcid.org/0000-0003-4904-4349"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Oscar Mendez","raw_affiliation_strings":["University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101911111","display_name":"Erin Chao Ling","orcid":"https://orcid.org/0000-0002-3444-2689"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Erin Chao Ling","raw_affiliation_strings":["Surrey Institute for People-Centered Artificial Intelligence, University of Surrey,Guildford,Surrey,United Kingdom","Surrey Institute for People-Centered Artificial Intelligence, University of Surrey, Guildford, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surrey Institute for People-Centered Artificial Intelligence, University of Surrey,Guildford,Surrey,United Kingdom","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Surrey Institute for People-Centered Artificial Intelligence, University of Surrey, Guildford, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015600952","display_name":"Jon Storey","orcid":null},"institutions":[{"id":"https://openalex.org/I4210149114","display_name":"i3D Robotics (United Kingdom)","ror":"https://ror.org/04kpqtt03","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210149114"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jon Storey","raw_affiliation_strings":["Industrial 3D Robotics,Tonbridge,Kent,UK","Industrial 3D Robotics, Tonbridge, Kent, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial 3D Robotics,Tonbridge,Kent,UK","institution_ids":["https://openalex.org/I4210149114"]},{"raw_affiliation_string":"Industrial 3D Robotics, Tonbridge, Kent, UK","institution_ids":["https://openalex.org/I4210149114"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091184063","display_name":"Simon Hadfield","orcid":"https://orcid.org/0000-0001-8637-5054"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Hadfield","raw_affiliation_strings":["University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey,CVSSP, Computer Science and Electronic Engineering,Guildford,Surrey,United Kingdom","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"CVSSP, Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.158,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80930187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5296","last_page":"5303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11948","display_name":"Machine Learning in Materials Science","score":0.9632999897003174,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11948","display_name":"Machine Learning in Materials Science","score":0.9632999897003174,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9557999968528748,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11393","display_name":"Biosensors and Analytical Detection","score":0.940500020980835,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.7247711420059204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6925729513168335},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.688445508480072},{"id":"https://openalex.org/keywords/raman-spectroscopy","display_name":"Raman spectroscopy","score":0.6368920803070068},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5885021090507507},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5641660094261169},{"id":"https://openalex.org/keywords/plug-in","display_name":"Plug-in","score":0.5332313179969788},{"id":"https://openalex.org/keywords/spectrometer","display_name":"Spectrometer","score":0.5130785703659058},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4850136935710907},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4412882924079895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4063955545425415},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38813868165016174},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.26770925521850586},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.13394156098365784},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12516295909881592}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7247711420059204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6925729513168335},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.688445508480072},{"id":"https://openalex.org/C40003534","wikidata":"https://www.wikidata.org/wiki/Q862228","display_name":"Raman spectroscopy","level":2,"score":0.6368920803070068},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5885021090507507},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5641660094261169},{"id":"https://openalex.org/C4924752","wikidata":"https://www.wikidata.org/wiki/Q184148","display_name":"Plug-in","level":2,"score":0.5332313179969788},{"id":"https://openalex.org/C33390570","wikidata":"https://www.wikidata.org/wiki/Q188463","display_name":"Spectrometer","level":2,"score":0.5130785703659058},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4850136935710907},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4412882924079895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4063955545425415},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38813868165016174},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.26770925521850586},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13394156098365784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12516295909881592},{"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/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"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/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G918011532","display_name":null,"funder_award_id":"EP/S035761/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1577509784","https://openalex.org/W2021851106","https://openalex.org/W2057520584","https://openalex.org/W2130422193","https://openalex.org/W2135662825","https://openalex.org/W2154127793","https://openalex.org/W2155597113","https://openalex.org/W2798278946","https://openalex.org/W2976881356","https://openalex.org/W2990714382","https://openalex.org/W2999277653","https://openalex.org/W3003591148","https://openalex.org/W3004220299","https://openalex.org/W3012339247","https://openalex.org/W3046036781","https://openalex.org/W3104831480","https://openalex.org/W3116836669","https://openalex.org/W3176428617","https://openalex.org/W3184751828","https://openalex.org/W3195621522","https://openalex.org/W3196630721","https://openalex.org/W3207717164","https://openalex.org/W3212784736","https://openalex.org/W4205831655","https://openalex.org/W4248644392","https://openalex.org/W4283760837","https://openalex.org/W4285102262","https://openalex.org/W6743714147"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2011676020","https://openalex.org/W2329895846"],"abstract_inverted_index":{"This":[0,130],"paper":[1,99],"presents":[2],"a":[3,31,109,139],"new":[4],"information":[5],"source":[6],"for":[7,112,127],"supporting":[8],"robot":[9],"localisation:":[10],"material":[11,61,86,115],"composition.":[12],"The":[13,157],"proposed":[14,135],"method":[15],"complements":[16],"the":[17,26,60,67,70,85,93,101,105,121,134,154],"existing":[18],"visual,":[19],"structural,":[20],"and":[21,159],"semantic":[22],"cues":[23],"utilized":[24],"in":[25,34,138],"literature.":[27],"However,":[28],"it":[29,64,80],"has":[30],"distinct":[32],"advantage":[33],"its":[35],"ability":[36],"to":[37,91],"differentiate":[38],"structurally":[39],"[23],":[40],"visually":[41],"[25]":[42],"or":[43,87],"categorically":[44],"[1]":[45],"similar":[46,74],"objects":[47,63],"such":[48,76],"as":[49,77,118,120],"different":[50],"doors,":[51],"by":[52,107],"using":[53],"Raman":[54,113],"spectrometers.":[55],"Such":[56],"devices":[57],"can":[58],"identify":[59],"of":[62,104],"probes":[65],"through":[66],"bonds":[68],"between":[69],"material's":[71],"molecules.":[72],"Unlike":[73],"sensors,":[75],"mass":[78],"spectroscopy,":[79],"does":[81],"so":[82],"without":[83],"damaging":[84],"environment.":[88],"In":[89],"addition":[90],"introducing":[92],"first":[94],"material-based":[95,128],"localisation":[96,123,145,152],"algorithm,":[97],"this":[98],"supports":[100],"future":[102],"growth":[103],"field":[106],"presenting":[108],"gazebo":[110],"plugin":[111],"spectrometers,":[114],"sensing":[116],"demonstrations,":[117],"well":[119],"first-ever":[122],"data-set":[124],"with":[125],"benchmarks":[126],"localisation.":[129],"benchmarking":[131],"shows":[132],"that":[133],"technique":[136],"results":[137],"significant":[140],"improvement":[141],"over":[142],"current":[143],"state-of-the-art":[144],"techniques,":[146],"achieving":[147],"16":[148],"%":[149],"more":[150],"accurate":[151],"than":[153],"leading":[155],"baseline.":[156],"code":[158],"dataset":[160],"will":[161],"be":[162],"released":[163],"at:":[164],"https://github.com/ThirgoodC/RaSpectLoc":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}