{"id":"https://openalex.org/W2167326590","doi":"https://doi.org/10.1109/robot.2008.4543697","title":"How to learn accurate grid maps with a humanoid","display_name":"How to learn accurate grid maps with a humanoid","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2167326590","doi":"https://doi.org/10.1109/robot.2008.4543697","mag":"2167326590"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3194","last_page":"3199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9800000190734863,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8176594972610474},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7636632919311523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7167573571205139},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7098151445388794},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6570836305618286},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6501668691635132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6164567470550537},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6111693978309631},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6051121950149536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5637743473052979},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.47071903944015503},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3990219533443451},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14587026834487915},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0673137903213501}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8176594972610474},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7636632919311523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7167573571205139},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7098151445388794},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6570836305618286},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6501668691635132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6164567470550537},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6111693978309631},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6051121950149536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5637743473052979},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.47071903944015503},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3990219533443451},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14587026834487915},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0673137903213501},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2008.4543697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.124.5475","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.124.5475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.212.2850","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.212.2850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~maren/papers/stachniss08icra.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/218598","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/218598","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1245615701","https://openalex.org/W1561837455","https://openalex.org/W1595068977","https://openalex.org/W1854144742","https://openalex.org/W2107402720","https://openalex.org/W2112793821","https://openalex.org/W2115286699","https://openalex.org/W2121272499","https://openalex.org/W2123726238","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2137043637","https://openalex.org/W2148228392","https://openalex.org/W2152671441","https://openalex.org/W2162568143","https://openalex.org/W2539821200","https://openalex.org/W2545914827","https://openalex.org/W4285719527","https://openalex.org/W6633732797","https://openalex.org/W6676506760"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2745063183","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"Humanoids":[0],"have":[1,22,151],"recently":[2],"become":[3],"a":[4,103,107,121,126,139,152,159],"popular":[5],"research":[6],"platform":[7],"in":[8,115,141],"the":[9,38,59,77,87],"robotics":[10],"community.":[11],"Such":[12],"robots":[13],"offer":[14],"various":[15],"fields":[16],"for":[17],"new":[18],"applications.":[19],"However,":[20],"they":[21,43],"several":[23],"drawbacks":[24],"compared":[25],"to":[26,72,86,97],"wheeled":[27,160],"vehicles":[28],"such":[29],"as":[30,155],"stability":[31],"problems,":[32],"limited":[33],"payload":[34],"capabilities,":[35],"violation":[36],"of":[37,61,76,128],"flat":[39],"world":[40],"assumption,":[41],"and":[42,90],"typically":[44],"provide":[45],"only":[46],"very":[47],"rough":[48],"odometry":[49],"information,":[50],"if":[51],"at":[52],"all.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57],"investigate":[58],"problem":[60,93],"learning":[62],"accurate":[63,100,123],"grid":[64],"maps":[65,101,150,156],"with":[66,74,102,106,125,138,158],"humanoid":[67,104,140],"robots.":[68],"We":[69,80,111],"present":[70,112],"techniques":[71],"deal":[73],"some":[75],"above-mentioned":[78],"difficulties.":[79],"describe":[81],"how":[82],"an":[83,113],"existing":[84],"approach":[85],"simultaneous":[88],"localization":[89],"mapping":[91,118],"(SLAM)":[92],"can":[94],"be":[95],"adapted":[96],"robustly":[98],"learn":[99],"equipped":[105],"laser":[108],"range":[109],"finder.":[110],"experiment":[114],"which":[116],"our":[117,142],"system":[119],"builds":[120],"highly":[122],"map":[124],"size":[127],"around":[129],"20":[130,133],"m":[131,134],"by":[132],"using":[135],"data":[136],"acquired":[137],"office":[143],"environment":[144],"containing":[145],"two":[146],"loops.":[147],"The":[148],"resulting":[149],"similar":[153],"accuracy":[154],"built":[157],"robot.":[161]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
