{"id":"https://openalex.org/W4405786412","doi":"https://doi.org/10.1109/iros58592.2024.10802364","title":"Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environments","display_name":"Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786412","doi":"https://doi.org/10.1109/iros58592.2024.10802364"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101471154","display_name":"Wei Gao","orcid":"https://orcid.org/0000-0003-2734-8886"},"institutions":[{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Wei Gao","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080348710","display_name":"Zezhou Sun","orcid":"https://orcid.org/0000-0002-4661-1582"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Zezhou Sun","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078764684","display_name":"Mingle Zhao","orcid":"https://orcid.org/0009-0006-9535-2974"},"institutions":[{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Mingle Zhao","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Cheng-Zhong Xu","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Hui Kong","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101471154"],"corresponding_institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"],"apc_list":null,"apc_paid":null,"fwci":3.9135,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94231758,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12302","last_page":"12309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9696000218391418,"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":0.9696000218391418,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9557999968528748,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.5908670425415039},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5809576511383057},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5320215225219727},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4804084599018097},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.47153976559638977},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3522033095359802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2876765727996826},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2402561604976654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22964099049568176},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16034510731697083},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11135411262512207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06836527585983276}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5908670425415039},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5809576511383057},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5320215225219727},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4804084599018097},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.47153976559638977},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3522033095359802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2876765727996826},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2402561604976654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22964099049568176},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16034510731697083},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11135411262512207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06836527585983276},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1583562684","https://openalex.org/W1684737195","https://openalex.org/W2080823437","https://openalex.org/W2107667896","https://openalex.org/W2123789618","https://openalex.org/W2161123599","https://openalex.org/W2169781427","https://openalex.org/W2296693980","https://openalex.org/W2771728020","https://openalex.org/W2912678658","https://openalex.org/W3003858408","https://openalex.org/W3130609318","https://openalex.org/W3132475407","https://openalex.org/W3176435923","https://openalex.org/W3176634028","https://openalex.org/W3209352332","https://openalex.org/W3214103722","https://openalex.org/W4200079766","https://openalex.org/W4200233657","https://openalex.org/W4210423514","https://openalex.org/W4224468183","https://openalex.org/W4313306306","https://openalex.org/W4327662982","https://openalex.org/W4384916927","https://openalex.org/W4391621243","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W315394019","https://openalex.org/W24774503","https://openalex.org/W2923398117","https://openalex.org/W4309585848","https://openalex.org/W2265383332","https://openalex.org/W2014821076","https://openalex.org/W4328130279","https://openalex.org/W2105009749","https://openalex.org/W4299387245","https://openalex.org/W2765469179"],"abstract_inverted_index":{"The":[0,95,126],"autonomous":[1,11,34],"mapping":[2,141],"of":[3,36,55,69],"large-scale":[4,147],"urban":[5],"scenes":[6],"presents":[7],"significant":[8],"challenges":[9],"for":[10,38],"robots.":[12],"To":[13,72],"mitigate":[14],"the":[15,33,53,56,67,85,90,99,103,107,115],"challenges,":[16],"global":[17],"planning,":[18],"such":[19],"as":[20],"utilizing":[21],"prior":[22],"GPS":[23,93],"trajectories":[24],"from":[25],"OpenStreetMap":[26],"(OSM),":[27],"is":[28,132],"often":[29],"used":[30],"to":[31,42,66,87,101,113],"guide":[32,98],"navigation":[35],"robots":[37],"mapping.":[39,71],"However,":[40],"due":[41],"factors":[43],"like":[44],"complex":[45],"terrain,":[46],"unexpected":[47],"body":[48],"movement,":[49],"and":[50,121,134,153],"sensor":[51],"noise,":[52],"uncertainty":[54],"robot\u2019s":[57],"pose":[58,124],"estimates":[59],"inevitably":[60],"increases":[61],"over":[62],"time,":[63],"ultimately":[64],"leading":[65],"failure":[68],"robotic":[70],"address":[73],"this":[74],"issue,":[75],"we":[76],"propose":[77],"a":[78,137],"novel":[79],"active":[80,128],"loop":[81,129],"closure":[82,130],"procedure,":[83],"enabling":[84],"robot":[86,100,140],"actively":[88],"re-plan":[89],"previously":[91],"planned":[92],"trajectory.":[94],"method":[96],"can":[97,110],"re-visit":[102],"previous":[104],"places":[105],"where":[106],"loop-closure":[108],"detection":[109],"be":[111],"performed":[112],"trigger":[114],"back-end":[116],"optimization,":[117],"effectively":[118],"reducing":[119],"errors":[120],"uncertainties":[122],"in":[123],"estimation.":[125],"proposed":[127],"mechanism":[131],"implemented":[133],"embedded":[135],"into":[136],"real-time":[138],"OSM-guided":[139],"framework.":[142],"Empirical":[143],"results":[144],"on":[145],"several":[146],"outdoor":[148],"scenarios":[149],"demonstrate":[150],"its":[151],"effectiveness":[152],"promising":[154],"performance.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
