{"id":"https://openalex.org/W2006194507","doi":"https://doi.org/10.1109/ram.2013.6758570","title":"Metric mapping and topo-metric graph learning of urban road network","display_name":"Metric mapping and topo-metric graph learning of urban road network","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2006194507","doi":"https://doi.org/10.1109/ram.2013.6758570","mag":"2006194507"},"language":"en","primary_location":{"id":"doi:10.1109/ram.2013.6758570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ram.2013.6758570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5030540576","display_name":"Bo Qin","orcid":"https://orcid.org/0000-0003-4342-3452"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"B. Qin","raw_affiliation_strings":["National University of Singapore, Kent Ridge, Singapore","National University of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108891960","display_name":"Z. J. Chong","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Z. J. Chong","raw_affiliation_strings":["National University of Singapore, Kent Ridge, Singapore","National University of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010359470","display_name":"Tirthankar Bandyopadhyay","orcid":"https://orcid.org/0000-0003-2229-5383"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"T. Bandyopadhyay","raw_affiliation_strings":["Commonwealth Scientific and Industrial Research Organisation (CSIRO), Australia","Commonwealth Sci. & Ind. Res. Organ. (CSIRO), Australia"],"affiliations":[{"raw_affiliation_string":"Commonwealth Scientific and Industrial Research Organisation (CSIRO), Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Commonwealth Sci. & Ind. Res. Organ. (CSIRO), Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M. H. Ang","raw_affiliation_strings":["National University of Singapore, Kent Ridge, Singapore","National University of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030540576"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.8165,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75523798,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"119","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.7548500299453735},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7244735360145569},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.6016011238098145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5724935531616211},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5504652857780457},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4395601153373718},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4324563443660736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3831139802932739},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34604325890541077},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3327314257621765},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.3027750849723816},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2991696000099182},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.25386661291122437},{"id":"https://openalex.org/keywords/convex-metric-space","display_name":"Convex metric space","score":0.2044493854045868},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.131321519613266},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.09605997800827026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0858984887599945}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.7548500299453735},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7244735360145569},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.6016011238098145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5724935531616211},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5504652857780457},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4395601153373718},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4324563443660736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3831139802932739},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34604325890541077},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3327314257621765},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.3027750849723816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2991696000099182},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.25386661291122437},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.2044493854045868},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.131321519613266},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.09605997800827026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0858984887599945},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ram.2013.6758570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ram.2013.6758570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/86020","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/86020","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1516773571","https://openalex.org/W1556905973","https://openalex.org/W1763302881","https://openalex.org/W1815151336","https://openalex.org/W1996567730","https://openalex.org/W2034207289","https://openalex.org/W2040477459","https://openalex.org/W2055738078","https://openalex.org/W2055813343","https://openalex.org/W2125314768","https://openalex.org/W2141746140","https://openalex.org/W2149409607","https://openalex.org/W2336416123","https://openalex.org/W3178590792","https://openalex.org/W6633406882"],"related_works":["https://openalex.org/W3154504797","https://openalex.org/W2787479695","https://openalex.org/W4302314177","https://openalex.org/W2515381329","https://openalex.org/W2497778489","https://openalex.org/W1988182520","https://openalex.org/W3154657183","https://openalex.org/W2169834317","https://openalex.org/W2142367722","https://openalex.org/W4322625928"],"abstract_inverted_index":{"A":[0],"road":[1,9,23,43,71],"map":[2,41,83],"serves":[3],"as":[4,98],"a":[5,16,29,59,74,99],"model":[6,76],"of":[7,42,69,77],"the":[8,49,70,78,81,95],"network,":[10],"which":[11,36,62],"is":[12],"especially":[13],"desired":[14],"for":[15,33,87,106],"vehicle":[17],"performing":[18],"autonomous":[19],"navigation":[20],"in":[21,116],"urban":[22,34,79],"environment.":[24],"This":[25],"paper":[26],"first":[27],"introduces":[28],"metric":[30,50,67,82],"mapping":[31],"algorithm":[32],"roads,":[35,80],"generates":[37],"an":[38,55],"occupancy":[39],"grid":[40],"surfaces":[44],"and":[45,66,90,119],"boundaries.":[46],"Based":[47],"on":[48],"map,":[51],"we":[52],"further":[53],"propose":[54],"approach":[56],"to":[57],"extract":[58],"topo-metric":[60,96],"graph":[61,97],"captures":[63],"both":[64],"topological":[65],"information":[68],"network.":[72],"As":[73],"detailed":[75],"can":[84,103],"be":[85,104],"used":[86,105],"obstacle":[88],"avoidance":[89],"local":[91],"path":[92],"planning,":[93],"while":[94],"compact":[100],"representation":[101],"that":[102],"some":[107],"high-level":[108],"reasoning":[109],"processes.":[110],"Our":[111],"proposed":[112],"algorithms":[113],"are":[114],"tested":[115],"real":[117],"experiments,":[118],"have":[120],"shown":[121],"good":[122],"results.":[123]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}