{"id":"https://openalex.org/W2089677013","doi":"https://doi.org/10.1109/robot.2010.5509976","title":"Mapping indoor environments based on human activity","display_name":"Mapping indoor environments based on human activity","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2089677013","doi":"https://doi.org/10.1109/robot.2010.5509976","mag":"2089677013"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5004575884","display_name":"Slawomir Grzonka","orcid":null},"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":"Slawomir Grzonka","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany","Department of Computer Science, University of Freiburg, D-79110, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, D-79110, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012319315","display_name":"Frederic Dijoux","orcid":null},"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":"Frederic Dijoux","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany","Department of Computer Science, University of Freiburg, D-79110, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, D-79110, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026210150","display_name":"Andreas Karwath","orcid":"https://orcid.org/0000-0002-6942-3760"},"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":"Andreas Karwath","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany","Department of Computer Science, University of Freiburg, D-79110, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, D-79110, 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, Freiberg, Germany","Department of Computer Science, University of Freiburg, D-79110, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, D-79110, 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":31,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"476","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.9912999868392944,"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/doors","display_name":"Doors","score":0.8403690457344055},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7801960706710815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.776611864566803},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7247620224952698},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7146976590156555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6276258230209351},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.569048285484314},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5374432802200317},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5357856750488281},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.5097669959068298},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4322489798069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2561020255088806},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1221015453338623},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09723162651062012}],"concepts":[{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.8403690457344055},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7801960706710815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.776611864566803},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7247620224952698},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7146976590156555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6276258230209351},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.569048285484314},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5374432802200317},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5357856750488281},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.5097669959068298},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4322489798069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2561020255088806},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1221015453338623},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09723162651062012},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.231.1309","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.231.1309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/grzonka10icra.pdf","raw_type":"text"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/053c0aa2-7e83-44a1-8fc5-cb3d0f1de8b2","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/053c0aa2-7e83-44a1-8fc5-cb3d0f1de8b2","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Grzonka, S, Dijoux, F, Karwath, A & Burgard, W 2010, 'Mapping indoor environments based on human activity', pp. 476-481. https://doi.org/10.1109/ROBOT.2010.5509976","raw_type":"conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W98188630","https://openalex.org/W144445838","https://openalex.org/W1560013842","https://openalex.org/W2100548006","https://openalex.org/W2100989187","https://openalex.org/W2105046342","https://openalex.org/W2117811484","https://openalex.org/W2123940811","https://openalex.org/W2125420246","https://openalex.org/W2127923214","https://openalex.org/W2150111138","https://openalex.org/W2534276235","https://openalex.org/W6604091132","https://openalex.org/W6605858928","https://openalex.org/W6678669752"],"related_works":["https://openalex.org/W2088888418","https://openalex.org/W2605954028","https://openalex.org/W2011883545","https://openalex.org/W2124177038","https://openalex.org/W2154461499","https://openalex.org/W2121069978","https://openalex.org/W2086478527","https://openalex.org/W2121280386","https://openalex.org/W2089677013","https://openalex.org/W2408201472"],"abstract_inverted_index":{"We":[0,108,137],"present":[1],"a":[2,23,36,62,75,92],"novel":[3],"approach":[4,18,46,77,95,140],"to":[5,32,84,98,125],"build":[6],"approximate":[7],"maps":[8],"of":[9,35,80,105,112,130,152],"structured":[10],"environments":[11,151],"utilizing":[12],"human":[13],"motion":[14,52],"and":[15,38,41,54,100,120,149],"activity.":[16],"Our":[17],"uses":[19],"data":[20,24],"recorded":[21],"with":[22,29,86,146],"suit":[25],"which":[26],"is":[27,96],"equipped":[28],"several":[30,142],"IMUs":[31],"detect":[33],"movements":[34,50],"person":[37],"door":[39,55],"opening":[40],"closing":[42],"events.":[43],"In":[44],"our":[45,94,139],"we":[47,67,73],"interpret":[48],"the":[49,81,87,103,106,113,127,131,134],"as":[51,58],"constraints":[53],"handling":[56],"events":[57],"landmark":[59],"detections":[60],"in":[61,141,150],"graph-based":[63],"SLAM":[64,82],"framework.":[65],"As":[66,91],"cannot":[68],"distinguish":[69],"between":[70],"individual":[71],"doors,":[72],"employ":[74],"multi-hypothesis":[76],"on":[78],"top":[79],"system":[83],"deal":[85],"high":[88],"data-association":[89],"uncertainty.":[90],"result,":[93],"able":[97],"accurately":[99],"robustly":[101],"recover":[102,126],"trajectory":[104],"person.":[107],"additionally":[109],"take":[110],"advantage":[111],"fact":[114],"that":[115,121],"people":[116],"traverse":[117],"free":[118],"space":[119],"doors":[122],"separate":[123],"rooms":[124],"geometric":[128],"structure":[129],"environment":[132],"after":[133],"graph":[135],"optimization.":[136],"evaluate":[138],"experiments":[143],"carried":[144],"out":[145],"different":[147,153],"users":[148],"types.":[154]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}