{"id":"https://openalex.org/W2056749840","doi":"https://doi.org/10.1109/robot.2010.5509977","title":"Consistent mapping of multistory buildings by introducing global constraints to graph-based SLAM","display_name":"Consistent mapping of multistory buildings by introducing global constraints to graph-based SLAM","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2056749840","doi":"https://doi.org/10.1109/robot.2010.5509977","mag":"2056749840"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509977","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":"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/A5113437786","display_name":"Michael Karg","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Michael Karg","raw_affiliation_strings":["Institute of Measurement, Control and Microtechnology, University of Ulm (EBS), Ulm, Germany","University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology, University of Ulm (EBS), Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090063396","display_name":"Kai M. Wurm","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":"Kai M Wurm","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany","University of Freiburg, Department of Computer Science, 79110, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"University of Freiburg, Department of Computer Science, 79110, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]},{"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, Freiberg, Germany","University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Institute of Measurement, Control and Microtechnology, University of Ulm (EBS), Ulm, Germany","University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology, University of Ulm (EBS), Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"University of Ulm, Institute of Measurement, Control and Microtechnology, 89081, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"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","University of Freiburg, Department of Computer Science, 79110, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"University of Freiburg, Department of Computer Science, 79110, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113437786"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":68.7661,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.99614468,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5383","last_page":"5388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9966999888420105,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7583914995193481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6675376296043396},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6071028113365173},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5577243566513062},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5267046093940735},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.500842809677124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47562459111213684},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.42310160398483276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.378264844417572},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3469720482826233},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2438337206840515},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22840988636016846},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19220107793807983},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10273945331573486}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7583914995193481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6675376296043396},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6071028113365173},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5577243566513062},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5267046093940735},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.500842809677124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47562459111213684},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.42310160398483276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.378264844417572},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3469720482826233},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2438337206840515},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22840988636016846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19220107793807983},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10273945331573486},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509977","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:10.1.1.153.6433","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.153.6433","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/karg10icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1577509784","https://openalex.org/W1656165940","https://openalex.org/W2003265541","https://openalex.org/W2015997601","https://openalex.org/W2085261163","https://openalex.org/W2101914010","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2108673707","https://openalex.org/W2109749443","https://openalex.org/W2115286699","https://openalex.org/W2119538218","https://openalex.org/W2137043637","https://openalex.org/W2152422184","https://openalex.org/W2153573528","https://openalex.org/W2155537009","https://openalex.org/W2167326590","https://openalex.org/W2169053332","https://openalex.org/W2170229019","https://openalex.org/W2177815210","https://openalex.org/W2336416123","https://openalex.org/W3143919370","https://openalex.org/W4239855686","https://openalex.org/W6634739074","https://openalex.org/W6675376843","https://openalex.org/W6675815664","https://openalex.org/W6684696910","https://openalex.org/W6703161083"],"related_works":["https://openalex.org/W2015530857","https://openalex.org/W2556064263","https://openalex.org/W1991846142","https://openalex.org/W28570768","https://openalex.org/W2125871801","https://openalex.org/W1585960250","https://openalex.org/W2120540633","https://openalex.org/W2123849027","https://openalex.org/W1976194731","https://openalex.org/W2133062384"],"abstract_inverted_index":{"In":[0,63],"the":[1,10,34,46,58,78,82,91,94,152],"past,":[2],"there":[3,19],"has":[4],"been":[5],"a":[6,98,112],"tremendous":[7],"advance":[8],"in":[9,42,81,135],"area":[11],"of":[12,45,61,77,84,97,158],"simultaneous":[13],"localization":[14,115],"and":[15,119,150],"mapping":[16,35],"(SLAM).":[17],"However,":[18],"are":[20],"relatively":[21],"few":[22],"approaches":[23],"for":[24,38,57,70],"incorporating":[25],"prior":[26],"information":[27],"or":[28],"knowledge":[29],"about":[30],"structural":[31,104],"similarities":[32],"into":[33],"process.":[36],"Consider,":[37],"example,":[39],"office":[40],"buildings":[41],"which":[43],"most":[44],"offices":[47],"have":[48],"an":[49,68],"identical":[50],"geometric":[51],"layout.":[52],"The":[53,137],"same":[54,79],"typically":[55],"holds":[56],"individual":[59,95],"stories":[60],"buildings.":[62,160],"this":[64],"paper,":[65],"we":[66,110],"propose":[67],"approach":[69,116,142],"generating":[71],"alignment":[72],"constraints":[73],"between":[74],"different":[75,122],"floors":[76,96,149],"building":[80,99],"context":[83],"graph-based":[85],"SLAM.":[86],"This":[87],"is":[88,143],"done":[89],"under":[90],"assumption":[92],"that":[93,140],"share":[100],"at":[101],"least":[102],"some":[103],"properties.":[105],"To":[106],"identify":[107],"such":[108],"areas,":[109],"apply":[111],"particle":[113],"filter-based":[114],"using":[117,128],"maps":[118],"observations":[120],"from":[121],"floors.":[123],"We":[124],"evaluate":[125],"our":[126,141],"system":[127],"several":[129],"real":[130],"datasets":[131],"as":[132,134],"well":[133],"simulation.":[136],"results":[138],"demonstrate":[139],"able":[144],"to":[145,154],"correctly":[146],"align":[147],"multiple":[148],"allows":[151],"robot":[153],"generate":[155],"consistent":[156],"models":[157],"multi-story":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}