{"id":"https://openalex.org/W2288995193","doi":"https://doi.org/10.1109/sii.2015.7405068","title":"SLAM within indoor loops by using incremental scan registration","display_name":"SLAM within indoor loops by using incremental scan registration","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288995193","doi":"https://doi.org/10.1109/sii.2015.7405068","mag":"2288995193"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2015.7405068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2015.7405068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/SICE International Symposium on System Integration (SII)","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":null,"display_name":"L V Jixin","orcid":null},"institutions":[{"id":"https://openalex.org/I104234503","display_name":"Hokkaido University of Science","ror":"https://ror.org/05gqsa340","country_code":"JP","type":"education","lineage":["https://openalex.org/I104234503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"L V Jixin","raw_affiliation_strings":["Hokkaido Daigaku, Sapporo, Hokkaido, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokkaido Daigaku, Sapporo, Hokkaido, JP","institution_ids":["https://openalex.org/I104234503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021449450","display_name":"Abhijeet Ravankar","orcid":"https://orcid.org/0000-0002-4057-5568"},"institutions":[{"id":"https://openalex.org/I104234503","display_name":"Hokkaido University of Science","ror":"https://ror.org/05gqsa340","country_code":"JP","type":"education","lineage":["https://openalex.org/I104234503"]},{"id":"https://openalex.org/I205349734","display_name":"Hokkaido University","ror":"https://ror.org/02e16g702","country_code":"JP","type":"education","lineage":["https://openalex.org/I205349734"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Abhijeet Ravankar","raw_affiliation_strings":["Hokkaido Daigaku, Sapporo, Hokkaido, JP","Research Group of Biomechanics and Robotics, Hokkaido University, Sapporo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokkaido Daigaku, Sapporo, Hokkaido, JP","institution_ids":["https://openalex.org/I104234503"]},{"raw_affiliation_string":"Research Group of Biomechanics and Robotics, Hokkaido University, Sapporo, Japan","institution_ids":["https://openalex.org/I205349734"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102990549","display_name":"Yukinori Kobayashi","orcid":"https://orcid.org/0000-0003-3442-1009"},"institutions":[{"id":"https://openalex.org/I104234503","display_name":"Hokkaido University of Science","ror":"https://ror.org/05gqsa340","country_code":"JP","type":"education","lineage":["https://openalex.org/I104234503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukinori Kobayashi","raw_affiliation_strings":["Hokkaido Daigaku, Sapporo, Hokkaido, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokkaido Daigaku, Sapporo, Hokkaido, JP","institution_ids":["https://openalex.org/I104234503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079210166","display_name":"Ankit A. Ravankar","orcid":"https://orcid.org/0000-0002-5104-9782"},"institutions":[{"id":"https://openalex.org/I104234503","display_name":"Hokkaido University of Science","ror":"https://ror.org/05gqsa340","country_code":"JP","type":"education","lineage":["https://openalex.org/I104234503"]},{"id":"https://openalex.org/I205349734","display_name":"Hokkaido University","ror":"https://ror.org/02e16g702","country_code":"JP","type":"education","lineage":["https://openalex.org/I205349734"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ankit A. Ravankar","raw_affiliation_strings":["Hokkaido Daigaku, Sapporo, Hokkaido, JP","Research Group of Biomechanics and Robotics, Hokkaido University, Sapporo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokkaido Daigaku, Sapporo, Hokkaido, JP","institution_ids":["https://openalex.org/I104234503"]},{"raw_affiliation_string":"Research Group of Biomechanics and Robotics, Hokkaido University, Sapporo, Japan","institution_ids":["https://openalex.org/I205349734"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045022032","display_name":"Takanori Emaru","orcid":"https://orcid.org/0000-0003-0806-9769"},"institutions":[{"id":"https://openalex.org/I104234503","display_name":"Hokkaido University of Science","ror":"https://ror.org/05gqsa340","country_code":"JP","type":"education","lineage":["https://openalex.org/I104234503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takanori Emaru","raw_affiliation_strings":["Hokkaido Daigaku, Sapporo, Hokkaido, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokkaido Daigaku, Sapporo, Hokkaido, JP","institution_ids":["https://openalex.org/I104234503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.8407,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.98425391,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"720","last_page":"725"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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/robustness","display_name":"Robustness (evolution)","score":0.804067075252533},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7150893211364746},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.710293173789978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6881868839263916},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.687505841255188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6583801507949829},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5687054395675659},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5680643916130066},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.4575892686843872},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.45512884855270386},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4243556261062622},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4186546802520752},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2956368923187256},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.2272982895374298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19356027245521545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18844005465507507},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1670752763748169},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12758392095565796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12052944302558899}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.804067075252533},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7150893211364746},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.710293173789978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881868839263916},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.687505841255188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6583801507949829},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5687054395675659},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5680643916130066},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.4575892686843872},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.45512884855270386},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4243556261062622},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4186546802520752},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2956368923187256},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.2272982895374298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19356027245521545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18844005465507507},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1670752763748169},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12758392095565796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12052944302558899},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2015.7405068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2015.7405068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1482795231","https://openalex.org/W1489258026","https://openalex.org/W1635475619","https://openalex.org/W1990976732","https://openalex.org/W2049981393","https://openalex.org/W2080823437","https://openalex.org/W2105319067","https://openalex.org/W2109341802","https://openalex.org/W2123195103","https://openalex.org/W2125420246","https://openalex.org/W2127578024","https://openalex.org/W2130763585","https://openalex.org/W2155193497","https://openalex.org/W2161900517","https://openalex.org/W2170686019","https://openalex.org/W6628877242","https://openalex.org/W6637016196","https://openalex.org/W6647918550","https://openalex.org/W6678669752"],"related_works":["https://openalex.org/W2091861768","https://openalex.org/W2963091090","https://openalex.org/W2564786226","https://openalex.org/W2127578024","https://openalex.org/W2165113654","https://openalex.org/W2141498523","https://openalex.org/W1556157276","https://openalex.org/W1510326563","https://openalex.org/W2162359940","https://openalex.org/W2005337052"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,62],"efficient":[4],"solution":[5],"to":[6],"fulfill":[7],"the":[8,45,54,71,79,98,117,129,132],"Simultaneous":[9],"Localization":[10],"and":[11,22,35,116,125],"Mapping":[12],"(SLAM)":[13],"in":[14,59,113],"indoor":[15],"environment":[16,115],"where":[17],"there":[18],"are":[19,123],"monotonous":[20,60],"areas":[21],"large":[23],"loops.":[24],"The":[25],"proposed":[26,133],"approach":[27,91],"works":[28],"on":[29,39],"Split":[30],"Sparse":[31],"Points":[32],"Maps":[33],"(SSPM)":[34],"is":[36,68,92,102,111],"mainly":[37],"based":[38,88],"incremental":[40],"scan":[41,57,75],"registration":[42,58],"by":[43],"using":[44],"Point-to-Line":[46],"Iterative":[47],"Closest":[48],"Point":[49],"(PLICP)":[50],"algorithm.":[51],"To":[52],"enhance":[53],"robustness":[55],"of":[56,74,81,107,131],"environment,":[61],"Incident":[63],"Angle":[64],"Fused":[65],"Metric":[66],"(IAFM)":[67],"introduced":[69],"during":[70],"association":[72],"procedure":[73],"registration.":[76,109],"Furthermore,":[77],"with":[78],"manner":[80],"sub":[82],"maps":[83],"joining,":[84],"a":[85],"trajectory":[86],"bending":[87],"loop":[89],"closure":[90],"applied,":[93],"which":[94,127],"can":[95],"efficiently":[96],"eliminate":[97],"map":[99],"inconsistence":[100],"that":[101],"generated":[103],"from":[104,120],"error":[105],"accumulation":[106],"scans":[108],"Experiment":[110],"conducted":[112],"real":[114],"results":[118],"obtained":[119],"different":[121],"methods":[122],"compared":[124],"discussed,":[126],"verifies":[128],"validation":[130],"methods.":[134]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}