{"id":"https://openalex.org/W4394994557","doi":"https://doi.org/10.1109/lra.2024.3392493","title":"FHT-Map: Feature-Based Hybrid Topological Map for Relocalization and Path Planning","display_name":"FHT-Map: Feature-Based Hybrid Topological Map for Relocalization and Path Planning","publication_year":2024,"publication_date":"2024-04-22","ids":{"openalex":"https://openalex.org/W4394994557","doi":"https://doi.org/10.1109/lra.2024.3392493"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3392493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3392493","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-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/A5100781105","display_name":"Kun Song","orcid":"https://orcid.org/0009-0003-2925-6325"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kun Song","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069084257","display_name":"Wenhang Liu","orcid":"https://orcid.org/0000-0002-8028-1417"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhang Liu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042497248","display_name":"Gaoming Chen","orcid":"https://orcid.org/0000-0002-2534-1827"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaoming Chen","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114462010","display_name":"Xiang Xu","orcid":"https://orcid.org/0009-0001-3841-1521"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Xu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100781105"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":7.548,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96678134,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"6","first_page":"5401","last_page":"5408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9984999895095825,"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":0.9926999807357788,"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":0.6573264598846436},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6554445624351501},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5791705250740051},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5682211518287659},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5401591062545776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4897315502166748},{"id":"https://openalex.org/keywords/quasi-open-map","display_name":"Quasi-open map","score":0.4546601474285126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43584734201431274},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3563414514064789},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3054860830307007},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.16807636618614197},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.1252230405807495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1231309175491333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09461668133735657}],"concepts":[{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6573264598846436},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6554445624351501},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5791705250740051},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5682211518287659},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5401591062545776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4897315502166748},{"id":"https://openalex.org/C104331952","wikidata":"https://www.wikidata.org/wiki/Q7269463","display_name":"Quasi-open map","level":2,"score":0.4546601474285126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43584734201431274},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3563414514064789},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3054860830307007},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.16807636618614197},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.1252230405807495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1231309175491333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09461668133735657},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3392493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3392493","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G915480523","display_name":null,"funder_award_id":"U1813224","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1567749508","https://openalex.org/W1973876344","https://openalex.org/W2096268286","https://openalex.org/W2105224953","https://openalex.org/W2107667896","https://openalex.org/W2110405746","https://openalex.org/W2117228865","https://openalex.org/W2411093439","https://openalex.org/W2623510711","https://openalex.org/W2771728020","https://openalex.org/W2786036844","https://openalex.org/W2889923199","https://openalex.org/W2891491652","https://openalex.org/W2939122829","https://openalex.org/W2949138173","https://openalex.org/W2963588253","https://openalex.org/W2986989456","https://openalex.org/W3090459043","https://openalex.org/W3132278911","https://openalex.org/W3159537771","https://openalex.org/W3168811332","https://openalex.org/W3205357298","https://openalex.org/W3206454137","https://openalex.org/W3208082090","https://openalex.org/W4285742775","https://openalex.org/W4286367218","https://openalex.org/W4292387243","https://openalex.org/W4292964992","https://openalex.org/W4312283138","https://openalex.org/W4312359951","https://openalex.org/W4323555857","https://openalex.org/W4383108932","https://openalex.org/W4385486101","https://openalex.org/W6633868278","https://openalex.org/W6747827861","https://openalex.org/W6850520603"],"related_works":["https://openalex.org/W2950854291","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2140766902","https://openalex.org/W1968077635"],"abstract_inverted_index":{"Topological":[0],"maps":[1],"are":[2,14,148],"favorable":[3],"for":[4,117],"their":[5],"small":[6],"storage":[7,97],"compared":[8,137],"to":[9,82,95,150],"geometric":[10],"maps.":[11,141],"However,":[12],"they":[13],"limited":[15],"in":[16],"relocalization":[17,85,118,132],"and":[18,52,55,64,77,119,133],"path":[19,101,120,134],"planning":[20,135],"capabilities.":[21],"To":[22],"solve":[23],"the":[24,46,109,126,145,152],"problem,":[25],"a":[26,36,90],"feature-based":[27],"hybrid":[28,146],"topological":[29,140],"map":[30,38,104],"(FHT-Map)":[31],"is":[32,161],"proposed":[33,127],"along":[34],"with":[35,138],"real-time":[37],"construction":[39,105],"algorithm":[40],"based":[41],"on":[42],"robot":[43,107],"exploration.":[44],"Specifically,":[45],"FHT-Map":[47,110,128,160],"utilizes":[48],"both":[49],"RGB":[50],"cameras":[51],"LiDAR":[53],"information":[54,71],"consists":[56],"of":[57,60,93,144,154,157],"two":[58,155],"types":[59,156],"nodes:":[61],"main":[62],"node":[63],"support":[65],"node.":[66],"Main":[67],"nodes":[68,88],"store":[69],"visual":[70],"compressed":[72],"by":[73,114],"convolutional":[74],"neural":[75],"network":[76],"local":[78],"laser":[79],"scan":[80],"data":[81,94],"enhance":[83],"subsequent":[84],"capability.":[86],"Support":[87],"retain":[89],"minimal":[91],"amount":[92],"ensure":[96],"efficiency":[98],"while":[99],"facilitating":[100],"planning.":[102,121],"After":[103],"through":[106],"exploration,":[108],"can":[111,129],"be":[112],"used":[113],"other":[115,139],"robots":[116],"Simulation":[122],"results":[123],"demonstrate":[124],"that":[125],"effectively":[130],"improve":[131],"capability":[136],"Moreover,":[142],"simulations":[143],"architecture":[147],"implemented":[149],"show":[151],"necessity":[153],"nodes.":[158],"The":[159],"available":[162],"at":[163],"<uri":[164],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[165],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/KunSong-L/FHT-Map</uri>":[166],".":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}