{"id":"https://openalex.org/W4404294478","doi":"https://doi.org/10.1109/m2vip62491.2024.10746210","title":"Graph-Based SLAM for Under-Train Inspection Robots in Narrow Site","display_name":"Graph-Based SLAM for Under-Train Inspection Robots in Narrow Site","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4404294478","doi":"https://doi.org/10.1109/m2vip62491.2024.10746210"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip62491.2024.10746210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","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/A5103151129","display_name":"Muhua Zhang","orcid":"https://orcid.org/0009-0000-2426-0921"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Muhua Zhang","raw_affiliation_strings":["Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China"],"affiliations":[{"raw_affiliation_string":"Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064304208","display_name":"Lei Ma","orcid":"https://orcid.org/0000-0002-0906-3978"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ma","raw_affiliation_strings":["Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China"],"affiliations":[{"raw_affiliation_string":"Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084988450","display_name":"Kai Shen","orcid":"https://orcid.org/0000-0002-7111-7623"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Shen","raw_affiliation_strings":["Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China"],"affiliations":[{"raw_affiliation_string":"Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102794448","display_name":"Yongkui Sun","orcid":"https://orcid.org/0000-0003-2480-3265"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkui Sun","raw_affiliation_strings":["Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China"],"affiliations":[{"raw_affiliation_string":"Southwest Jiaotong University,School of Electrical Engineering,Chengdu,China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103151129"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":null,"apc_paid":null,"fwci":0.7548,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80725077,"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":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9890999794006348,"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":0.9890999794006348,"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":0.9866999983787537,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9516000151634216,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.670403242111206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6696673631668091},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5654974579811096},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4666008949279785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46210867166519165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3839947283267975},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37263917922973633},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08772113919258118}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.670403242111206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6696673631668091},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5654974579811096},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4666008949279785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46210867166519165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3839947283267975},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37263917922973633},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08772113919258118}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip62491.2024.10746210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2153054365","https://openalex.org/W2182229738","https://openalex.org/W3085327481","https://openalex.org/W3089503906","https://openalex.org/W3133648073","https://openalex.org/W4210423514","https://openalex.org/W4293517969","https://openalex.org/W4324119399","https://openalex.org/W4362698359","https://openalex.org/W4386821966","https://openalex.org/W4388918945","https://openalex.org/W4393641014"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W8302103","https://openalex.org/W2542348219","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Traditional":[0],"Simultaneous":[1],"Localization":[2],"and":[3,12,36,61,84,103,137,148,164,186,232],"Mapping":[4],"(SLAM)":[5],"often":[6],"fails":[7],"when":[8,91],"operating":[9],"within":[10],"narrow":[11],"repetitive":[13],"metro":[14],"train":[15,41,67,166],"inspection":[16,156,197,218],"pit":[17,157,198],"environments.":[18],"A":[19],"novel":[20],"SLAM":[21,72,215],"framework":[22,129,203,242],"is":[23,243],"presented":[24],"in":[25,47,118,154,195,210,216,234],"this":[26,30],"paper":[27],"to":[28,53,114,124,158],"address":[29],"problem.":[31],"It":[32],"integrates":[33],"multi-sensor":[34],"data":[35],"leverages":[37],"prior":[38],"knowledge":[39],"of":[40,77,100,106,161,190,207,239],"structures,":[42],"ensures":[43,230],"consistent":[44,180],"trajectory":[45],"estimation":[46],"robot\u2019s":[48],"unidirectional":[49],"straight":[50],"runs":[51],"up":[52],"192m.":[54],"By":[55],"employing":[56],"feature-based":[57],"Laser":[58],"Odometry":[59],"(LO)":[60],"Time-of-Flight":[62],"(ToF)":[63],"ranging":[64,95],"sensors":[65],"for":[66],"wheel":[68,194],"center":[69,188],"detection,":[70],"the":[71,92,98,101,119,128,150,155,159,162,174,196,205,240],"frontend":[73],"generates":[74],"two":[75],"types":[76],"keyframes.":[78],"LO":[79],"keyframes":[80,88,111],"record":[81,89],"timestamps,":[82],"velocities,":[83],"pose":[85],"estimations.":[86],"ToF":[87,93],"timestamps":[90],"laser":[94],"point":[96],"reaches":[97],"centers":[99,160],"first":[102,136,163,193],"last":[104,138,165],"wheels":[105],"each":[107,134,191,217],"carriage.":[108],"These":[109],"heterogeneous":[110],"are":[112],"merged":[113],"serve":[115],"as":[116,140,142,168,220,222],"nodes":[117],"factor":[120],"graph.":[121],"In":[122],"addition":[123],"standard":[125],"pose-to-pose":[126],"constraints,":[127],"uses":[130],"true":[131],"distances":[132,145],"between":[133,146,171],"carriage's":[135],"wheels,":[139,167],"well":[141,221],"estimated":[143],"actual":[144],"carriages":[147],"from":[149],"robot's":[151],"reached":[152],"boundaries":[153],"distance":[169],"constraints":[170],"nodes.":[172],"Finally,":[173],"backend":[175],"optimization":[176],"yields":[177],"a":[178],"globally":[179],"trajectory,":[181],"an":[182],"optimized":[183],"feature":[184],"map,":[185],"accurate":[187],"positions":[189],"carriage\u2019s":[192],"coordinate":[199],"system.":[200],"The":[201,237],"proposed":[202,241],"solves":[204],"issues":[206],"scale":[208,223],"inconsistency":[209],"maps":[211],"generated":[212],"during":[213,226],"real-time":[214],"session,":[219],"drift":[224],"encountered":[225],"long-distance":[227],"straight-line":[228],"movements,":[229],"accuracy":[231],"safety":[233],"under-train":[235],"inspections.":[236],"effectiveness":[238],"demonstrated":[244],"using":[245],"real-world":[246],"datasets.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
