{"id":"https://openalex.org/W3035410609","doi":"https://doi.org/10.1109/plans46316.2020.9110190","title":"SLAM Based Topological Mapping and Navigation","display_name":"SLAM Based Topological Mapping and Navigation","publication_year":2020,"publication_date":"2020-04-01","ids":{"openalex":"https://openalex.org/W3035410609","doi":"https://doi.org/10.1109/plans46316.2020.9110190","mag":"3035410609"},"language":"en","primary_location":{"id":"doi:10.1109/plans46316.2020.9110190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans46316.2020.9110190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012509620","display_name":"Wuyang Xue","orcid":"https://orcid.org/0000-0002-7284-0629"},"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":"Wuyang Xue","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048965499","display_name":"Rendong Ying","orcid":"https://orcid.org/0000-0001-6670-149X"},"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":"Rendong Ying","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028655194","display_name":"Zheng Gong","orcid":"https://orcid.org/0000-0002-6538-7344"},"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":"Zheng Gong","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086920847","display_name":"Ruihang Miao","orcid":"https://orcid.org/0000-0002-9180-1414"},"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":"Ruihang Miao","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034251794","display_name":"Fei Wen","orcid":"https://orcid.org/0000-0002-3083-9611"},"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":"Fei Wen","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032986088","display_name":"Peilin Liu","orcid":"https://orcid.org/0000-0002-5321-2336"},"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":"Peilin Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":6.3579,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.96519083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1336","last_page":"1341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9995999932289124,"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":0.9894000291824341,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8319148421287537},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.8238117694854736},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6968938708305359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6033695936203003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5562639832496643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.554884135723114},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5184547305107117},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5054323673248291},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4701927900314331},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4466990828514099},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4291940927505493},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4222137928009033},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38826847076416016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38598746061325073},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.29018646478652954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20755693316459656}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8319148421287537},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.8238117694854736},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6968938708305359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6033695936203003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5562639832496643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.554884135723114},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5184547305107117},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5054323673248291},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4701927900314331},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4466990828514099},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4291940927505493},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4222137928009033},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38826847076416016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38598746061325073},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.29018646478652954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20755693316459656},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/plans46316.2020.9110190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans46316.2020.9110190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W186096846","https://openalex.org/W1535541145","https://openalex.org/W1572346965","https://openalex.org/W1999050017","https://openalex.org/W2030021468","https://openalex.org/W2083118096","https://openalex.org/W2125409550","https://openalex.org/W2129216891","https://openalex.org/W2130422193","https://openalex.org/W2131859829","https://openalex.org/W2157392310","https://openalex.org/W2202251471","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2414314951","https://openalex.org/W2535547924","https://openalex.org/W2561780869","https://openalex.org/W2745859992","https://openalex.org/W2943754116","https://openalex.org/W2963872397","https://openalex.org/W2967572567","https://openalex.org/W2980701808","https://openalex.org/W3102327032","https://openalex.org/W6607571703","https://openalex.org/W6697304529"],"related_works":["https://openalex.org/W2576107656","https://openalex.org/W3130035014","https://openalex.org/W2055247968","https://openalex.org/W3097864550","https://openalex.org/W892968198","https://openalex.org/W2196737264","https://openalex.org/W2144119813","https://openalex.org/W3132278911","https://openalex.org/W297838471","https://openalex.org/W2515381329"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,8,39,55,97],"mapping":[3,58],"(SLAM)":[4],"is":[5,92],"getting":[6],"more":[7,9],"popular":[10],"in":[11],"modern":[12,62],"robotic":[13],"navigation":[14,102,114],"systems.":[15],"Grid":[16],"map":[17,32,73,91,107],"provided":[18],"by":[19],"LiDAR":[20],"SLAM":[21,36,63,79],"can":[22],"represent":[23,43],"reliable":[24],"traversable":[25,44],"space":[26],"for":[27,47,64],"global":[28,65],"path":[29,48,66],"planning.":[30,49,67],"However,":[31],"points":[33,74],"of":[34,78],"visual":[35],"are":[37],"sparse":[38],"noisy,":[40],"which":[41],"cannot":[42],"spaces":[45],"reliably":[46],"This":[50],"paper":[51],"proposes":[52],"a":[53,101,109],"novel":[54],"efficient":[56],"topological":[57,83,90,106],"approach":[59,69],"based":[60],"on":[61],"Our":[68],"utilizes":[70],"not":[71],"only":[72],"but":[75],"also":[76],"trajectories":[77],"to":[80],"build":[81],"the":[82,89,95],"map.":[84],"Mapping":[85],"experiments":[86],"demonstrate":[87],"that":[88],"free":[93],"from":[94],"sparsity":[96],"outlier":[98],"problems.":[99],"Moreover,":[100],"system":[103],"integrating":[104],"our":[105],"with":[108,116],"local":[110],"planner":[111],"passes":[112],"all":[113],"tests":[115],"additional":[117],"obstacles":[118],"changing":[119],"original":[120],"environment.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
