{"id":"https://openalex.org/W7131125987","doi":"https://doi.org/10.1109/robio66223.2025.11376024","title":"A Robot Visual Localization Architecture Using Hybrid Map with Explicit-Implicit Combination","display_name":"A Robot Visual Localization Architecture Using Hybrid Map with Explicit-Implicit Combination","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131125987","doi":"https://doi.org/10.1109/robio66223.2025.11376024"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5055132525","display_name":"Peiyu Guan","orcid":null},"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/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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiyu Guan","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069171230","display_name":"Xurong Gong","orcid":"https://orcid.org/0009-0001-9017-1342"},"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/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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xurong Gong","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126641828","display_name":"Jianjie Li","orcid":null},"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/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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjie Li","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101498614","display_name":"Zhiqiang Cao","orcid":"https://orcid.org/0000-0001-8578-5385"},"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/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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Cao","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121309667","display_name":"J. Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University,State Key Laboratory for Turbulence and Complex Systems,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University,State Key Laboratory for Turbulence and Complex Systems,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7412999868392944,"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":0.7412999868392944,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.05909999832510948,"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/T13382","display_name":"Robotics and Automated Systems","score":0.019099999219179153,"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/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.5680999755859375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5536999702453613},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48669999837875366},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47780001163482666},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.45899999141693115},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.415800005197525},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.34610000252723694}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7339000105857849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955999732017517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6603000164031982},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.5680999755859375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5536999702453613},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48669999837875366},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47780001163482666},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.45899999141693115},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.415800005197525},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.32420000433921814},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.27639999985694885},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.27639999985694885},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1025904473","display_name":null,"funder_award_id":"62303456,U23A20343","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6075676277","display_name":null,"funder_award_id":"L223020,L233030","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1565312575","https://openalex.org/W1893935112","https://openalex.org/W1908016767","https://openalex.org/W2033819227","https://openalex.org/W2099940712","https://openalex.org/W2125409550","https://openalex.org/W2134237713","https://openalex.org/W2165558283","https://openalex.org/W2621274416","https://openalex.org/W2798302276","https://openalex.org/W2963053725","https://openalex.org/W2963095856","https://openalex.org/W2979458572","https://openalex.org/W2985516791","https://openalex.org/W3007933361","https://openalex.org/W3141835154","https://openalex.org/W3166285241","https://openalex.org/W3170946828","https://openalex.org/W4295700801","https://openalex.org/W4312336574","https://openalex.org/W4317892889","https://openalex.org/W4402742511"],"related_works":[],"abstract_inverted_index":{"Visual":[0],"localization":[1,22,58,72,87,114,144,172],"is":[2,79,133,162],"a":[3,68,124,128],"fundamental":[4],"capability":[5],"for":[6,14,74,112],"autonomous":[7],"robots,":[8],"which":[9],"provides":[10],"the":[11,42,45,152,159,167,170],"robot":[12,153],"pose":[13,27,154,160],"navigation":[15],"and":[16,23,121,127,146],"task":[17],"execution.":[18],"Although":[19],"visual":[20,71],"simultaneous":[21],"mapping":[24],"enables":[25],"efficient":[26,100],"estimation,":[28],"it":[29],"possibly":[30],"suffers":[31],"from":[32],"accumulated":[33],"drift":[34],"or":[35],"tracking":[36,156],"failures":[37],"in":[38],"complex":[39],"environments,":[40],"reducing":[41],"reliability":[43],"of":[44,158,169],"localization.":[46],"Moreover,":[47],"practical":[48],"environments":[49],"are":[50,91,105,119],"typically":[51],"heterogeneous,":[52],"where":[53],"different":[54],"regions":[55,83,90,104],"impose":[56],"distinct":[57],"accuracy":[59],"requirements.":[60,88],"To":[61],"address":[62],"these":[63],"challenges,":[64],"this":[65,150],"paper":[66],"proposes":[67],"hybrid":[69,125],"map-based":[70],"framework":[73],"mobile":[75],"robot.":[76],"The":[77],"environment":[78],"partitioned":[80],"into":[81,123],"multiple":[82],"according":[84],"to":[85,98,135],"their":[86],"Coarse":[89],"represented":[92],"using":[93],"explicit":[94],"point":[95],"cloud":[96],"maps":[97,118],"enable":[99],"localization,":[101],"while":[102],"finegrained":[103],"modeled":[106],"implicitly":[107],"by":[108],"coordinate":[109],"regression":[110],"networks":[111],"high":[113],"accuracy.":[115],"These":[116],"region-specific":[117],"aligned":[120],"merged":[122],"map,":[126],"regionaware":[129],"map":[130,140],"selection":[131],"mechanism":[132],"introduced":[134],"select":[136],"an":[137],"appropriate":[138],"regional":[139],"based":[141],"on":[142],"recent":[143],"history":[145],"current":[147],"observation.":[148],"In":[149],"way,":[151],"under":[155],"failure":[157],"estimator":[161],"recovered.":[163],"Navigation":[164],"experiments":[165],"demonstrate":[166],"effectiveness":[168],"proposed":[171],"framework.":[173]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}