{"id":"https://openalex.org/W3197153015","doi":"https://doi.org/10.1109/rcar52367.2021.9517476","title":"A Hierarchical Semantic Map for Large-scale Outdoor Environment","display_name":"A Hierarchical Semantic Map for Large-scale Outdoor Environment","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3197153015","doi":"https://doi.org/10.1109/rcar52367.2021.9517476","mag":"3197153015"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5100366358","display_name":"Di Zhang","orcid":"https://orcid.org/0000-0001-5586-1527"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Zhang","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016826662","display_name":"De Xu","orcid":"https://orcid.org/0000-0002-7221-1654"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"De Xu","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"794","last_page":"799"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"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":0.9965999722480774,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9872000217437744,"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/computer-science","display_name":"Computer science","score":0.7681757211685181},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6433719396591187},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6005649566650391},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5968990325927734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5949748754501343},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5062943696975708},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5048490166664124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44626280665397644},{"id":"https://openalex.org/keywords/semantic-feature","display_name":"Semantic feature","score":0.44021284580230713},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.42509984970092773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3519831597805023},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12713709473609924},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11953333020210266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06948858499526978}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7681757211685181},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6433719396591187},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6005649566650391},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5968990325927734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5949748754501343},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5062943696975708},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5048490166664124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44626280665397644},{"id":"https://openalex.org/C2781122975","wikidata":"https://www.wikidata.org/wiki/Q16928266","display_name":"Semantic feature","level":2,"score":0.44021284580230713},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.42509984970092773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3519831597805023},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12713709473609924},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11953333020210266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06948858499526978},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/rcar52367.2021.9517476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G8247782928","display_name":null,"funder_award_id":"Z191100008019004","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1680252513","https://openalex.org/W2045330131","https://openalex.org/W2115204603","https://openalex.org/W2143062563","https://openalex.org/W2161969291","https://openalex.org/W2246675684","https://openalex.org/W2739269730","https://openalex.org/W2897828525","https://openalex.org/W2914942730","https://openalex.org/W2963256208","https://openalex.org/W2963713713","https://openalex.org/W2967044683","https://openalex.org/W2986989456","https://openalex.org/W3003427794","https://openalex.org/W3005455081","https://openalex.org/W3007887123","https://openalex.org/W3013607828","https://openalex.org/W3013683937","https://openalex.org/W3029526305","https://openalex.org/W3089777376","https://openalex.org/W6618872416"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W4311555960","https://openalex.org/W2110306692","https://openalex.org/W1535841975","https://openalex.org/W3003948348","https://openalex.org/W35374767","https://openalex.org/W1489926632","https://openalex.org/W4376648022"],"abstract_inverted_index":{"We":[0],"make":[1],"full":[2],"use":[3],"of":[4,8,42,60],"the":[5,31,37,57,61,77],"pre-known":[6],"knowledge":[7],"environment,":[9],"and":[10,39,71],"establish":[11],"a":[12],"hierarchical":[13],"semantic":[14,24,46],"map":[15,22,62],"offline":[16],"for":[17],"large-scale":[18],"outdoor":[19],"environment.":[20],"The":[21],"contains":[23],"information":[25,47],"which":[26],"is":[27],"more":[28],"stable":[29],"than":[30],"commonly":[32],"used":[33],"feature":[34],"points.":[35],"And":[36],"description":[38],"recognition":[40,70],"methods":[41],"locations":[43],"based":[44],"on":[45],"are":[48],"similar":[49],"to":[50,75],"human":[51],"habits.":[52],"Experiment":[53],"results":[54],"show":[55],"that":[56],"all":[58],"parts":[59],"working":[63],"together":[64],"can":[65],"achieve":[66],"path":[67],"planning,":[68],"location":[69],"relative":[72],"pose":[73],"estimation":[74],"complete":[76],"robot":[78],"navigation":[79],"task.":[80]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}