{"id":"https://openalex.org/W2775050793","doi":"https://doi.org/10.1109/roman.2017.8172455","title":"Generating 3D fundamental map by large-scale SLAM and graph-based optimization focused on road center line","display_name":"Generating 3D fundamental map by large-scale SLAM and graph-based optimization focused on road center line","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2775050793","doi":"https://doi.org/10.1109/roman.2017.8172455","mag":"2775050793"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2017.8172455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","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/A5079123348","display_name":"Shun Niijima","orcid":"https://orcid.org/0000-0002-7595-2191"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shun Niijima","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067750036","display_name":"Jirou Nitta","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jirou Nitta","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma-shi, Nara, Japan","National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102748358","display_name":"Yoko Sasaki","orcid":"https://orcid.org/0000-0002-1220-6124"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoko Sasaki","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057754307","display_name":"Hiroshi Mizoguchi","orcid":"https://orcid.org/0000-0002-1322-6098"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Mizoguchi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079123348"],"corresponding_institution_ids":["https://openalex.org/I161296585","https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":2.7219,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9117273,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"36","issue":null,"first_page":"1188","last_page":"1193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.992900013923645,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8138446807861328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7356328964233398},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.6561153531074524},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.6286093592643738},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6247537732124329},{"id":"https://openalex.org/keywords/geospatial-analysis","display_name":"Geospatial analysis","score":0.5830401182174683},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.5560076236724854},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5435078740119934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5278071165084839},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5171144008636475},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.512099027633667},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.456299751996994},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4503534734249115},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.44755980372428894},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.44660666584968567},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43046319484710693},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.42186927795410156},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42184534668922424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3611869513988495},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12875869870185852},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11799713969230652},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.107697993516922},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09393802285194397},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0802927315235138}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8138446807861328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7356328964233398},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.6561153531074524},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.6286093592643738},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6247537732124329},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.5830401182174683},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.5560076236724854},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5435078740119934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5278071165084839},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5171144008636475},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.512099027633667},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.456299751996994},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4503534734249115},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.44755980372428894},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.44660666584968567},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43046319484710693},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.42186927795410156},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42184534668922424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3611869513988495},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12875869870185852},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11799713969230652},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.107697993516922},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09393802285194397},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0802927315235138},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2017.8172455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6399999856948853,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W573617743","https://openalex.org/W1541250175","https://openalex.org/W1656165940","https://openalex.org/W1891947214","https://openalex.org/W1989750313","https://openalex.org/W2080823437","https://openalex.org/W2119851068","https://openalex.org/W2151477068","https://openalex.org/W2153054365","https://openalex.org/W2165558283","https://openalex.org/W2290885422","https://openalex.org/W2295130602","https://openalex.org/W2567520225","https://openalex.org/W2750339080","https://openalex.org/W6616334596"],"related_works":["https://openalex.org/W3206634034","https://openalex.org/W2540189345","https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2045545917","https://openalex.org/W2012910072","https://openalex.org/W4366987497","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2770320365"],"abstract_inverted_index":{"The":[0,53,138],"paper":[1],"presents":[2],"a":[3,7,13,26,73,163],"method":[4,57,77],"to":[5,28],"generate":[6,162],"large-scale":[8,164],"3D":[9,74,103,143,165],"fundamental":[10],"map":[11,75,85,105,130,166],"from":[12,82],"running":[14,113],"vehicle.":[15],"To":[16,67],"create":[17],"an":[18],"easy-to-use":[19],"approach":[20],"for":[21,64],"frequent":[22],"updates,":[23],"we":[24,71],"propose":[25,72],"system":[27,150],"utilize":[29],"simultaneous":[30],"localization":[31],"and":[32,125,160],"mapping":[33,38,51,56],"(SLAM),":[34],"which":[35],"is":[36,106,112],"robot":[37],"technology.":[39],"In":[40],"traditional":[41],"methods,":[42],"special":[43],"machines":[44],"or":[45],"many":[46],"manual":[47,60],"operations":[48],"cause":[49],"higher":[50],"costs.":[52],"existing":[54],"mobile":[55],"(MMS)":[58],"requires":[59],"anchoring":[61],"point":[62],"measurement":[63],"ensuring":[65],"accuracy.":[66,169],"solve":[68],"this":[69],"problem,":[70],"optimization":[76,118],"by":[78,87,108],"using":[79],"road":[80,99,122],"information":[81],"the":[83,88,95,98,110,120,128,135,148,153,157],"standard":[84,129],"issued":[86],"Geospatial":[89],"Information":[90],"Authority":[91],"of":[92,102,127,134,141,156],"Japan.":[93],"From":[94],"SLAM":[96,136,158],"result,":[97],"center":[100,123],"line":[101,124],"shape":[104],"estimated":[107,121],"assuming":[109],"car":[111],"on":[114],"road.":[115],"Pose":[116],"graph":[117],"between":[119],"that":[126,147],"corrects":[131],"cumulative":[132,154],"distortion":[133,155],"result.":[137],"experimental":[139],"results":[140,159],"on-vehicle":[142],"LIDAR":[144],"observation":[145],"show":[146],"proposed":[149],"could":[151],"correct":[152],"automatically":[161],"assuring":[167],"reference":[168]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
