{"id":"https://openalex.org/W2097536316","doi":"https://doi.org/10.1109/robot.2009.5152881","title":"Topological modeling and classification in home environment using sonar gridmap","display_name":"Topological modeling and classification in home environment using sonar gridmap","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2097536316","doi":"https://doi.org/10.1109/robot.2009.5152881","mag":"2097536316"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5042838206","display_name":"Jinwoo Choi","orcid":"https://orcid.org/0000-0003-2363-501X"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jinwoo Choi","raw_affiliation_strings":["Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024015792","display_name":"Minyong Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minyong Choi","raw_affiliation_strings":["Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101737695","display_name":"Kyoungmin Lee","orcid":"https://orcid.org/0000-0003-4060-5381"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoungmin Lee","raw_affiliation_strings":["Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":["Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Mechanical Engineering, Pohang University of Science & Technology (POSTECH), KOREA","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042838206"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":4.248,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.93338226,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3892","last_page":"3898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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":0.996999979019165,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10757","display_name":"Geographic Information Systems Studies","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.8626235723495483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6806255578994751},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6030237674713135},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5706965923309326},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.549278199672699},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5219820737838745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5203532576560974},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.5082959532737732},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4751060903072357},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.42734724283218384},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4107188880443573},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.33717668056488037},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17625457048416138},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1337226927280426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09221804141998291}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.8626235723495483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6806255578994751},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6030237674713135},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5706965923309326},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.549278199672699},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5219820737838745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5203532576560974},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.5082959532737732},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4751060903072357},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.42734724283218384},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4107188880443573},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.33717668056488037},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17625457048416138},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1337226927280426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09221804141998291},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.44999998807907104,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1549060199","https://openalex.org/W1586173270","https://openalex.org/W1999050017","https://openalex.org/W2050781898","https://openalex.org/W2090252623","https://openalex.org/W2097146511","https://openalex.org/W2099471249","https://openalex.org/W2100673994","https://openalex.org/W2118429180","https://openalex.org/W2121947440","https://openalex.org/W2131546647","https://openalex.org/W2135385493","https://openalex.org/W2142362566","https://openalex.org/W4237027380","https://openalex.org/W6634982934"],"related_works":["https://openalex.org/W3199220297","https://openalex.org/W2137769200","https://openalex.org/W2032962400","https://openalex.org/W2952608638","https://openalex.org/W2911323905","https://openalex.org/W2130145841","https://openalex.org/W1890543963","https://openalex.org/W2350761455","https://openalex.org/W2049983311","https://openalex.org/W2088946561"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62],"method":[4,60,91],"of":[5,34,43,96,119],"topological":[6,94],"representation":[7],"and":[8,21,77,99,110,123],"classification":[9,53,100,124],"in":[10,103,125],"home":[11,127],"environment":[12,45,98],"using":[13],"only":[14],"low-cost":[15],"sonar":[16,28,112],"sensors.":[17],"Approximate":[18],"cell":[19],"decomposition":[20],"normalized":[22],"graph":[23],"cut":[24],"are":[25],"applied":[26],"to":[27,30,61,70],"gridmap":[29],"extract":[31],"graphical":[32],"model":[33,39,95],"the":[35,44,78,97,108,117],"environment.":[36,128],"The":[37,89],"extracted":[38],"represents":[40],"spatial":[41],"relation":[42],"appropriately":[46],"by":[47,56,84],"segmenting":[48],"several":[49],"subregions.":[50],"Moreover,":[51],"node":[52,76,80],"is":[54,68],"achieved":[55],"applying":[57],"template":[58],"matching":[59,67,105],"local":[63],"gridmap.":[64],"Rotational":[65],"invariant":[66],"used":[69],"obtain":[71],"candidate":[72],"location":[73],"for":[74],"each":[75],"true":[79],"can":[81],"be":[82],"classified":[83],"considering":[85],"detail":[86],"distance":[87],"information.":[88],"proposed":[90,120],"extracts":[92],"well-structured":[93],"also":[101],"results":[102,115],"reliable":[104],"even":[106],"under":[107],"uncertain":[109],"sparse":[111],"data.":[113],"Experimental":[114],"verify":[116],"performance":[118],"environmental":[121],"modeling":[122],"real":[126]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}