{"id":"https://openalex.org/W2963653121","doi":"https://doi.org/10.1109/jsyst.2019.2927042","title":"A Multilevel Fusion System for Multirobot 3-D Mapping Using Heterogeneous Sensors","display_name":"A Multilevel Fusion System for Multirobot 3-D Mapping Using Heterogeneous Sensors","publication_year":2019,"publication_date":"2019-07-22","ids":{"openalex":"https://openalex.org/W2963653121","doi":"https://doi.org/10.1109/jsyst.2019.2927042","mag":"2963653121"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2019.2927042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2019.2927042","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/147245/2/ieee_system_journal.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6628-7946","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024505549","display_name":"Chule Yang","orcid":"https://orcid.org/0000-0002-6548-5841"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chule Yang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6548-5841","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043106548","display_name":"Yuanzhe Wang","orcid":"https://orcid.org/0000-0002-1683-4849"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuanzhe Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1683-4849","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089646749","display_name":"P.G.C.N. Senarathne","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"P. G. Chaminda Namal Senarathne","raw_affiliation_strings":["Continental Automotive Singapore Pte Ltd., Singapore","ST Engineering-NTU Corporate Lab, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Continental Automotive Singapore Pte Ltd., Singapore","institution_ids":[]},{"raw_affiliation_string":"ST Engineering-NTU Corporate Lab, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754322","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-7406-5243"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0001-7406-5243","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059520724","display_name":"Mingxing Wen","orcid":"https://orcid.org/0000-0002-9751-2648"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mingxing Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9751-2648","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3400-0079","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5068949782"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":60.6565,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.99739509,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"14","issue":"1","first_page":"1341","last_page":"1352"},"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":0.9977999925613403,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/probabilistic-logic","display_name":"Probabilistic logic","score":0.7473416328430176},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7038781642913818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6516557931900024},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6155449748039246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.527023434638977},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.5209032893180847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4712900221347809},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45252150297164917},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.41724205017089844},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3222782611846924},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3100895583629608},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1382685899734497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12623366713523865}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7473416328430176},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7038781642913818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516557931900024},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6155449748039246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.527023434638977},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.5209032893180847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4712900221347809},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45252150297164917},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.41724205017089844},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3222782611846924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3100895583629608},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1382685899734497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12623366713523865},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jsyst.2019.2927042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2019.2927042","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/147245","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/147245","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/147245/2/ieee_system_journal.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/147245","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/147245","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/147245/2/ieee_system_journal.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2963653121.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1536078990","https://openalex.org/W1605812324","https://openalex.org/W1968132847","https://openalex.org/W1973979427","https://openalex.org/W2040134986","https://openalex.org/W2049981393","https://openalex.org/W2102233102","https://openalex.org/W2133844819","https://openalex.org/W2152864241","https://openalex.org/W2155214120","https://openalex.org/W2155256807","https://openalex.org/W2155620850","https://openalex.org/W2169901455","https://openalex.org/W2199085611","https://openalex.org/W2205443796","https://openalex.org/W2312352258","https://openalex.org/W2566597158","https://openalex.org/W2566688177","https://openalex.org/W2573552470","https://openalex.org/W2586560793","https://openalex.org/W2739423245","https://openalex.org/W2767986757","https://openalex.org/W2772726788","https://openalex.org/W2888880178","https://openalex.org/W2908023630","https://openalex.org/W2913092074","https://openalex.org/W2962846261","https://openalex.org/W2963697709","https://openalex.org/W3029192705","https://openalex.org/W3105013352","https://openalex.org/W4249866455","https://openalex.org/W6675141791","https://openalex.org/W6682801450","https://openalex.org/W6688073443","https://openalex.org/W6732979571","https://openalex.org/W6745817655","https://openalex.org/W6759886010"],"related_works":["https://openalex.org/W2369446480","https://openalex.org/W776059654","https://openalex.org/W1592970983","https://openalex.org/W2164971746","https://openalex.org/W4236946317","https://openalex.org/W2914629502","https://openalex.org/W3199931706","https://openalex.org/W3106193344","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Operating":[0],"multiple":[1],"robots":[2,100],"in":[3,152,164],"an":[4,117],"unstructured":[5],"environment":[6],"is":[7,28,56,71,121,139,150],"challenging":[8],"due":[9],"to":[10,48,130,141],"its":[11,85,160],"high":[12],"complexity":[13],"and":[14,37,61,81,101,162],"uncertainty.":[15],"In":[16],"such":[17],"applications,":[18],"the":[19,33,50,72,76,82,96,107,126],"integration":[20],"of":[21,35,58,68,75,84,128],"individual":[22],"maps":[23,108],"generated":[24,109],"by":[25,110],"heterogeneous":[26,111,156],"sensors":[27,112],"a":[29,43,91,134,143],"critical":[30],"problem,":[31,54],"especially":[32],"fusion":[34,53,79,168],"sparse":[36],"dense":[38],"maps.":[39],"This":[40],"paper":[41,70],"proposes":[42],"general":[44],"multi-level":[45],"probabilistic":[46,86,103],"framework":[47,89],"address":[49],"integrated":[51],"map":[52,78,104,136,167],"which":[55,123,158],"independent":[57],"sensor":[59],"type":[60],"SLAM":[62],"algorithm":[63,120],"employed.":[64],"The":[65,88,147],"key":[66],"novelty":[67],"this":[69],"mathematical":[73],"formulation":[74],"overall":[77],"problem":[80],"derivation":[83],"decomposition.":[87],"provides":[90],"theoretical":[92],"basis":[93],"for":[94],"computing":[95],"relative":[97],"transformations":[98],"amongst":[99],"merging":[102,137],"information.":[105],"Since":[106],"have":[113],"different":[114],"physical":[115],"properties,":[116],"expectation-maximization-based":[118],"map-matching":[119],"proposed":[122,148],"automatically":[124],"determines":[125],"number":[127],"voxels":[129],"be":[131],"associated.":[132],"Then,":[133],"time-sequential":[135],"strategy":[138],"developed":[140],"generate":[142],"globally":[144],"consistent":[145],"map.":[146],"approach":[149],"evaluated":[151],"various":[153],"environments":[154],"with":[155],"sensors,":[157],"demonstrates":[159],"accuracy":[161],"versatility":[163],"3-D":[165],"multirobot":[166],"missions.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
