{"id":"https://openalex.org/W4408223339","doi":"https://doi.org/10.1109/robio64047.2024.10907541","title":"Robot Localization Based on Semantic Information in Dynamic Indoor Environments with Similar Layouts","display_name":"Robot Localization Based on Semantic Information in Dynamic Indoor Environments with Similar Layouts","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408223339","doi":"https://doi.org/10.1109/robio64047.2024.10907541"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5067727496","display_name":"Renjie Song","orcid":"https://orcid.org/0009-0004-4942-5728"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Renjie Song","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110335879","display_name":"Jin Liu","orcid":"https://orcid.org/0009-0003-9543-7642"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Liu","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113010571","display_name":"Wenfu Bi","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Bi","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386258","display_name":"Ying Zhang","orcid":"https://orcid.org/0000-0003-4050-7589"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Zhang","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101542216","display_name":"Mengyang Zhang","orcid":"https://orcid.org/0000-0003-4267-1761"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyang Zhang","raw_affiliation_strings":["School of Information Science and Engineering, Shandong Normal University,Jinan,China,250014"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Shandong Normal University,Jinan,China,250014","institution_ids":["https://openalex.org/I28006308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015343493","display_name":"Cuihua Zhang","orcid":"https://orcid.org/0000-0003-2275-4578"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cui-Hua Zhang","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University,Qinhuangdao,China,066004","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5067727496"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35806853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1520","last_page":"1525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9344000220298767,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9344000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7544711232185364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6188472509384155},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41429567337036133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3978394865989685}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7544711232185364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6188472509384155},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41429567337036133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3978394865989685}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1350068576","display_name":null,"funder_award_id":"F2024203036,F2022203097","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G140379039","display_name":null,"funder_award_id":"ZR2022QF053","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G8065378361","display_name":null,"funder_award_id":"BJK2024195","funder_id":"https://openalex.org/F4320321949","funder_display_name":"Department of Education of Hebei Province"},{"id":"https://openalex.org/G925320264","display_name":null,"funder_award_id":"62203378,62203377,62073279,62303285","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321949","display_name":"Department of Education of Hebei Province","ror":"https://ror.org/01jkyjd96"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1973876344","https://openalex.org/W2077069816","https://openalex.org/W3165528186","https://openalex.org/W3195158006","https://openalex.org/W3214229025","https://openalex.org/W4220889379","https://openalex.org/W4253193475","https://openalex.org/W4315795975","https://openalex.org/W4319303303","https://openalex.org/W4367673664","https://openalex.org/W4376481256","https://openalex.org/W4382725382","https://openalex.org/W4387123492","https://openalex.org/W4388755346","https://openalex.org/W4390060495","https://openalex.org/W4391130440","https://openalex.org/W4392265518","https://openalex.org/W4393128773","https://openalex.org/W4393143063","https://openalex.org/W4394994557","https://openalex.org/W4398756379"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Accurate":[0],"localization":[1,35,69,81,149],"in":[2,21,70,105,191,207],"indoor":[3,22,34,64,74,80],"spaces":[4],"is":[5],"critical":[6],"for":[7,33,68,83],"robotic":[8],"operations.":[9],"However,":[10],"the":[11,56,101,109,132,145,148,179,202],"common":[12],"occurrence":[13],"of":[14,58,103,181,193],"similar":[15,123,210],"scene":[16,92,156],"layouts":[17],"and":[18,28,47,62,72,97,139,196,205,209],"dynamic":[19,73,208],"changes":[20],"environments,":[23],"including":[24],"repetitive":[25],"furniture,":[26],"obstacles,":[27],"moving":[29],"objects,":[30],"presents":[31],"challenges":[32],"using":[36,59,168],"LiDAR.":[37,98,175],"Therefore,":[38],"when":[39],"a":[40,78,90,94,115,153,160,173],"robot":[41,95,146],"locates":[42],"indoors,":[43],"it":[44],"must":[45],"explore":[46],"apply":[48],"more":[49],"diverse":[50,63],"technological":[51],"approaches.":[52],"This":[53],"paper":[54],"investigates":[55],"potential":[57],"widely":[60],"distributed":[61],"furniture":[65],"as":[66],"references":[67],"complex":[71],"environments.":[75],"We":[76],"propose":[77],"novel":[79],"method":[82,200],"service":[84],"robots":[85],"that":[86,117],"relies":[87],"solely":[88],"on":[89],"pre-constructed":[91],"graph,":[93,157],"camera,":[96],"To":[99],"address":[100],"issue":[102],"redundancy":[104],"image":[106],"databases":[107],"during":[108],"robot's":[110,203],"environment":[111],"exploration,":[112],"we":[113],"introduce":[114],"strategy":[116,129],"incorporates":[118],"semantic":[119,155],"information.":[120],"By":[121],"filtering":[122],"objects":[124],"across":[125],"multiple":[126],"scenes,":[127],"this":[128,182],"effectively":[130],"reduces":[131],"linear":[133],"dependence":[134],"between":[135],"online":[136],"retrieval":[137],"time":[138],"database":[140],"size.":[141],"During":[142],"rough":[143],"relocalization,":[144],"predicts":[147],"range":[150],"by":[151],"constructing":[152],"real-time":[154],"which":[158],"provides":[159],"regional":[161],"constraint.":[162],"Subsequently,":[163],"accurate":[164],"results":[165],"are":[166],"obtained":[167],"local":[169],"laser":[170],"scans":[171],"from":[172],"2D":[174],"Simulation":[176],"experiments":[177],"validate":[178],"effectiveness":[180],"method,":[183],"demonstrating":[184],"significant":[185],"improvements":[186],"over":[187],"probabilistic":[188],"grid":[189],"maps":[190],"terms":[192],"storage":[194],"requirements":[195],"relocalization":[197],"capabilities.":[198],"The":[199],"enhances":[201],"adaptability":[204],"robustness":[206],"environmental":[211],"scenarios.":[212]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
