{"id":"https://openalex.org/W4389666105","doi":"https://doi.org/10.1109/iros55552.2023.10342253","title":"Robust Fusion for Bayesian Semantic Mapping","display_name":"Robust Fusion for Bayesian Semantic Mapping","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666105","doi":"https://doi.org/10.1109/iros55552.2023.10342253"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342253","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":"article","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/A5045889311","display_name":"David Morilla-Cabello","orcid":"https://orcid.org/0000-0002-7315-8138"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Morilla-Cabello","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001202571","display_name":"Lorenzo Mur-Labadia","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Lorenzo Mur-Labadia","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049372967","display_name":"Rub\u00e9n Mart\u00ednez-Cant\u00edn","orcid":"https://orcid.org/0000-0002-6741-844X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ruben Martinez-Cantin","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Montijano","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.8103,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96732718,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"76","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/outlier","display_name":"Outlier","score":0.8136018514633179},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7899991869926453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7388107776641846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6036603450775146},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5571439862251282},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5290229320526123},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4784148633480072},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.4757252037525177},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.46580272912979126},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.46319809556007385},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.43859240412712097},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12637704610824585},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11626192927360535}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.8136018514633179},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7899991869926453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7388107776641846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6036603450775146},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5571439862251282},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5290229320526123},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4784148633480072},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.4757252037525177},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.46580272912979126},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.46319809556007385},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.43859240412712097},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12637704610824585},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11626192927360535},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10342253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342253","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"},{"id":"pmh:oai:zaguan.unizar.es:132333","is_oa":false,"landing_page_url":"http://zaguan.unizar.es/record/132333","pdf_url":null,"source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4791228205","display_name":null,"funder_award_id":"PID2021-125514NB-I00,PID2021-1252090B-I00,TED2021-129410B-I00,TED2021-129410B-I00,TED2021-131150B-I00,MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W2037227137","https://openalex.org/W2150066425","https://openalex.org/W2523049145","https://openalex.org/W2594519801","https://openalex.org/W2600383743","https://openalex.org/W2630837129","https://openalex.org/W2867167548","https://openalex.org/W2888144883","https://openalex.org/W2891925059","https://openalex.org/W2919379406","https://openalex.org/W2946361733","https://openalex.org/W2963238274","https://openalex.org/W2963357556","https://openalex.org/W2964115315","https://openalex.org/W2964248288","https://openalex.org/W3004300126","https://openalex.org/W3035711539","https://openalex.org/W3037326989","https://openalex.org/W3090386798","https://openalex.org/W3102330937","https://openalex.org/W3110658509","https://openalex.org/W3165048240","https://openalex.org/W3174702694","https://openalex.org/W3201048198","https://openalex.org/W3206581026","https://openalex.org/W3209287468","https://openalex.org/W4200005482","https://openalex.org/W4226458380","https://openalex.org/W4285507550","https://openalex.org/W4313017642","https://openalex.org/W4322490935","https://openalex.org/W4383097515","https://openalex.org/W4386065840","https://openalex.org/W6617145748","https://openalex.org/W6730042731","https://openalex.org/W6735443497","https://openalex.org/W6739651123","https://openalex.org/W6739696289","https://openalex.org/W6752760542","https://openalex.org/W6763254573","https://openalex.org/W6787393353","https://openalex.org/W6798225807","https://openalex.org/W6803600046"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305","https://openalex.org/W2580722822","https://openalex.org/W2772305933","https://openalex.org/W1486338765","https://openalex.org/W4387454008"],"abstract_inverted_index":{"The":[0,174],"integration":[1],"of":[2,114,135,187],"semantic":[3,45,79,195],"information":[4],"in":[5,30,43,97,127,131,192],"a":[6,40,44,70,89,132,160,193],"map":[7],"allows":[8],"robots":[9],"to":[10,57,75,93,110,123,166,170,201],"understand":[11],"better":[12,194],"their":[13,31,125],"environment":[14],"and":[15,60,118,152,182,198],"make":[16],"high-level":[17],"decisions.":[18],"In":[19,155],"the":[20,58,62,84,95,99,108,112,120,128,136,168,179,184,188],"last":[21],"few":[22],"years,":[23],"neural":[24,41,91],"networks":[25],"have":[26],"shown":[27],"enormous":[28],"progress":[29],"perception":[32],"capabilities.":[33],"However,":[34],"when":[35],"fusing":[36],"multiple":[37,77],"observations":[38,109,189],"from":[39],"network":[42,92,161],"map,":[46],"its":[47],"inherent":[48],"overconfidence":[49],"with":[50,204],"unknown":[51],"data":[52,165,172],"gives":[53],"too":[54],"much":[55],"weight":[56],"outliers":[59],"decreases":[61],"robustness.":[63],"To":[64],"mitigate":[65,111],"this":[66],"issue":[67],"we":[68,158],"propose":[69],"novel":[71],"robust":[72,142],"fusion":[73,143],"method":[74,82],"combine":[76],"Bayesian":[78,90],"predictions.":[80],"Our":[81],"uses":[83],"uncertainty":[85,122,181],"estimation":[86],"provided":[87],"by":[88,106,145],"calibrate":[94],"way":[96],"which":[98],"measurements":[100],"are":[101],"fused.":[102],"This":[103],"is":[104],"done":[105],"regularizing":[107,183],"problem":[113],"overconfident":[115],"outlier":[116],"predictions":[117],"using":[119],"epistemic":[121],"weigh":[124],"influence":[126],"fusion,":[129],"resulting":[130],"different":[133,164],"formulation":[134],"probability":[137,185],"distributions.":[138,173],"We":[139],"validate":[140],"our":[141],"strategy":[144],"performing":[146],"experiments":[147],"on":[148,163],"photo-realistic":[149],"simulated":[150],"environments":[151],"real":[153],"scenes.":[154],"both":[156],"cases,":[157],"use":[159],"trained":[162],"expose":[167],"model":[169],"varying":[171],"results":[175,191],"show":[176],"that":[177],"considering":[178],"model's":[180],"distribution":[186,190],"segmentation":[196],"performance":[197],"more":[199],"robustness":[200],"outliers,":[202],"compared":[203],"other":[205],"methods.":[206],"Video":[207],"-":[208],"https://youtu.be/5xVGm7z9c-0":[209]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}