{"id":"https://openalex.org/W1999272700","doi":"https://doi.org/10.1109/robio.2013.6739747","title":"Omnidirectional vision based mobile robot topological localization","display_name":"Omnidirectional vision based mobile robot topological localization","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1999272700","doi":"https://doi.org/10.1109/robio.2013.6739747","mag":"1999272700"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5020521320","display_name":"Maohai Li","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Maohai Li","raw_affiliation_strings":["School of Mechanical and Electric Engineering, Soochow University, China","Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063057774","display_name":"Rui Lin","orcid":"https://orcid.org/0000-0001-5823-5687"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Lin","raw_affiliation_strings":["School of Mechanical and Electric Engineering, Soochow University, China","Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100744155","display_name":"Zhenhua Wang","orcid":"https://orcid.org/0000-0001-6388-7938"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Wang","raw_affiliation_strings":["School of Mechanical and Electric Engineering, Soochow University, China","Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006429233","display_name":"Yunbo Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunbo Hong","raw_affiliation_strings":["School of Mechanical and Electric Engineering, Soochow University, China","Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020521320"],"corresponding_institution_ids":["https://openalex.org/I3923682"],"apc_list":null,"apc_paid":null,"fwci":0.8664,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.8038733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1905","last_page":"1910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9972000122070312,"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-vision","display_name":"Computer vision","score":0.7397677302360535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7126332521438599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6949223279953003},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6929861903190613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6513838768005371},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.6482954621315002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5912593603134155},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5909246802330017},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.5550205111503601},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3585938811302185},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.3304239511489868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2005983293056488}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7397677302360535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7126332521438599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6949223279953003},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6929861903190613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6513838768005371},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.6482954621315002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5912593603134155},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5909246802330017},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.5550205111503601},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3585938811302185},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.3304239511489868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2005983293056488},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W176729393","https://openalex.org/W200125825","https://openalex.org/W2028960610","https://openalex.org/W2029278364","https://openalex.org/W2052094314","https://openalex.org/W2083822463","https://openalex.org/W2097406002","https://openalex.org/W2106595755","https://openalex.org/W2124592110","https://openalex.org/W2148557232","https://openalex.org/W2148876197","https://openalex.org/W2150440820","https://openalex.org/W2151914190","https://openalex.org/W2427881153","https://openalex.org/W6607182440","https://openalex.org/W6608124365"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W1989062809","https://openalex.org/W2118689766","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1999272700"],"abstract_inverted_index":{"A":[0],"robust":[1,58,100],"omni-directional":[2,43],"vision":[3],"based":[4,26],"localization":[5,25,88,103],"method":[6],"that":[7],"allows":[8],"us":[9],"to":[10,94,122],"obtain":[11],"accurate":[12],"mobile":[13],"robot":[14,34,91,107,140],"pose":[15,108],"of":[16,75,129,148],"large":[17],"indoor":[18,143],"environments":[19],"is":[20,35,47,55,110],"proposed.":[21],"To":[22],"implement":[23],"the":[24,33,86,90,95,120,146,149],"on":[27,38],"vision.":[28],"In":[29,85],"a":[30,39,52,73,138],"learning":[31],"step,":[32],"manually":[36],"guided":[37],"path":[40],"and":[41,60,65,81,105],"an":[42,142],"image":[44],"frames":[45],"sequence":[46,51],"recorded.":[48],"From":[49],"this":[50,113],"topological":[53,69],"map":[54],"built":[56],"with":[57,79,124,137],"affine":[59,80],"scale":[61,82],"invariant":[62,83],"features":[63],"extraction":[64],"matching":[66],"algorithm.":[67],"Each":[68],"node":[70,98],"represented":[71],"by":[72,112],"set":[74],"panoramic":[76],"images":[77],"described":[78],"features.":[84],"on-line":[87],"stage,":[89],"localizes":[92],"itself":[93],"most":[96],"likely":[97],"through":[99],"Monte":[101],"Carlo":[102],"algorithm,":[104],"ambiguous":[106],"estimation":[109],"resolved":[111],"high":[114],"probability":[115],"distribution":[116],"method.":[117,151],"This":[118],"enables":[119],"system":[121],"deal":[123],"perceptual":[125],"aliasing":[126],"or":[127],"absence":[128],"reliable":[130],"observation":[131],"data.":[132],"Experiment":[133],"results":[134],"carried":[135],"out":[136],"real":[139],"in":[141],"environment":[144],"show":[145],"performance":[147],"proposed":[150]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}