{"id":"https://openalex.org/W2144146995","doi":"https://doi.org/10.1109/ramech.2004.1438030","title":"An approach to appearance-based simultaneous localization and map building (SLAM)","display_name":"An approach to appearance-based simultaneous localization and map building (SLAM)","publication_year":2005,"publication_date":"2005-06-15","ids":{"openalex":"https://openalex.org/W2144146995","doi":"https://doi.org/10.1109/ramech.2004.1438030","mag":"2144146995"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2004.1438030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2004.1438030","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","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/A5111939835","display_name":"C.S.G. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Chun-Fan Lee","raw_affiliation_strings":["ARC Center of Excellence in Autonomous Systems CAS, School of Computer Science and Engineering, University of New South Wales, Sydney, Australia","School of Computer Science & Engineering, University of New South Wales, Australia#TAB#"],"affiliations":[{"raw_affiliation_string":"ARC Center of Excellence in Autonomous Systems CAS, School of Computer Science and Engineering, University of New South Wales, Sydney, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Computer Science & Engineering, University of New South Wales, Australia#TAB#","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055952724","display_name":"Arcot Sowmya","orcid":"https://orcid.org/0000-0001-9236-5063"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Sowmya","raw_affiliation_strings":["ARC Center of Excellence in Autonomous Systems CAS, School of Computer Science and Engineering, University of New South Wales, Sydney, Australia","School of Computer Science & Engineering, University of New South Wales, Australia#TAB#"],"affiliations":[{"raw_affiliation_string":"ARC Center of Excellence in Autonomous Systems CAS, School of Computer Science and Engineering, University of New South Wales, Sydney, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Computer Science & Engineering, University of New South Wales, Australia#TAB#","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111939835"],"corresponding_institution_ids":["https://openalex.org/I31746571"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17021909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"857","last_page":"862"},"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":0.9980000257492065,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8148753643035889},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.793286144733429},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7673554420471191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6478804349899292},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5330290794372559},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.48645469546318054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42921045422554016},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.42091360688209534},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27417296171188354}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8148753643035889},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.793286144733429},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7673554420471191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6478804349899292},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5330290794372559},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.48645469546318054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42921045422554016},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.42091360688209534},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27417296171188354},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2004.1438030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2004.1438030","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1549613529","https://openalex.org/W1601378499","https://openalex.org/W1977464512","https://openalex.org/W2010142364","https://openalex.org/W2114766649","https://openalex.org/W2135092312","https://openalex.org/W2143864104","https://openalex.org/W2150839555","https://openalex.org/W2151914190","https://openalex.org/W2156406284","https://openalex.org/W4234899042","https://openalex.org/W6680173660"],"related_works":["https://openalex.org/W1585007175","https://openalex.org/W2068608913","https://openalex.org/W2382521049","https://openalex.org/W2144385241","https://openalex.org/W3124914020","https://openalex.org/W2165950148","https://openalex.org/W4253593777","https://openalex.org/W2951497643","https://openalex.org/W2141033859","https://openalex.org/W2077542787"],"abstract_inverted_index":{"Current":[0],"robotic":[1],"localization":[2],"and":[3,15],"SLAM":[4,39],"algorithms":[5],"are":[6],"restricted":[7],"to":[8],"simple":[9],"geometric":[10],"features":[11],"such":[12],"as":[13,17],"lines":[14],"corners":[16],"landmarks.":[18],"The":[19],"richness":[20],"of":[21],"the":[22],"information":[23,44],"provided":[24],"by":[25],"visual":[26,43],"perception":[27],"has":[28],"not":[29],"been":[30],"fully":[31],"explored.":[32],"This":[33],"paper":[34],"presents":[35],"a":[36],"vision":[37],"based":[38],"algorithm":[40],"which":[41],"utilizes":[42],"with":[45],"minimal":[46],"prior":[47],"assumptions.":[48]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
