{"id":"https://openalex.org/W2790638419","doi":"https://doi.org/10.1109/spac.2017.8304331","title":"Humanoid robot localization based on hybrid map","display_name":"Humanoid robot localization based on hybrid map","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2790638419","doi":"https://doi.org/10.1109/spac.2017.8304331","mag":"2790638419"},"language":"en","primary_location":{"id":"doi:10.1109/spac.2017.8304331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/spac.2017.8304331","pdf_url":null,"source":{"id":"https://openalex.org/S4306498208","display_name":"2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)","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/A5070906850","display_name":"Xiandong Xu","orcid":"https://orcid.org/0000-0003-0449-8929"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiandong Xu","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102172432","display_name":"Bingrong Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingrong Hong","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012962057","display_name":"Yi Guan","orcid":"https://orcid.org/0000-0003-3618-6719"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Guan","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.7588,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98214735,"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":"509","last_page":"514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9943000078201294,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7875670194625854},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6438168883323669},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6047995090484619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.603805661201477},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5844082832336426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5838006138801575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5749928951263428},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5735155940055847},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5675050020217896},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.544255256652832},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.5266423225402832},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5199045538902283},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5094464421272278},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4813597798347473},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.45072391629219055},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3911765217781067},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20069989562034607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17043864727020264},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.11800846457481384}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7875670194625854},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6438168883323669},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6047995090484619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.603805661201477},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5844082832336426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5838006138801575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5749928951263428},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5735155940055847},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5675050020217896},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.544255256652832},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.5266423225402832},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5199045538902283},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5094464421272278},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4813597798347473},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.45072391629219055},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3911765217781067},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20069989562034607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17043864727020264},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.11800846457481384},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/spac.2017.8304331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/spac.2017.8304331","pdf_url":null,"source":{"id":"https://openalex.org/S4306498208","display_name":"2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1562210099","https://openalex.org/W1577509784","https://openalex.org/W1931008023","https://openalex.org/W1963592796","https://openalex.org/W1973876344","https://openalex.org/W1991567646","https://openalex.org/W2008572525","https://openalex.org/W2045847345","https://openalex.org/W2085976496","https://openalex.org/W2088115584","https://openalex.org/W2093077928","https://openalex.org/W2097649661","https://openalex.org/W2099253838","https://openalex.org/W2115286699","https://openalex.org/W2118428504","https://openalex.org/W2125420246","https://openalex.org/W2132631693","https://openalex.org/W2149020252","https://openalex.org/W2159011795","https://openalex.org/W2160584648","https://openalex.org/W2165848869","https://openalex.org/W2167326590","https://openalex.org/W2168237427","https://openalex.org/W2298605637","https://openalex.org/W2322301143","https://openalex.org/W2336416123","https://openalex.org/W2488634989","https://openalex.org/W2738207958","https://openalex.org/W6697869303"],"related_works":["https://openalex.org/W3199994333","https://openalex.org/W2913279314","https://openalex.org/W3214167195","https://openalex.org/W4313168669","https://openalex.org/W2771715819","https://openalex.org/W2134250996","https://openalex.org/W2155468563","https://openalex.org/W2121769094","https://openalex.org/W1983719746","https://openalex.org/W2790638419"],"abstract_inverted_index":{"In":[0,53],"this":[1],"paper":[2],"we":[3,55],"present":[4],"a":[5,21,26,29,66,84,108],"hybrid":[6,16,71],"map":[7,17,36,72,90],"based":[8,61,87],"localization":[9,78,86,106],"method":[10,99],"for":[11,107],"humanoid":[12,22,109],"robot.":[13,110],"A":[14,33],"indoor":[15,105],"is":[18,37,73],"created":[19],"by":[20,39,82],"robot":[23],"NAO":[24],"with":[25],"camera":[27],"and":[28,42,65,91],"laser":[30],"range":[31],"finder.":[32],"global":[34,85],"topological":[35,89],"constructed":[38],"natural":[40],"landmarks,":[41],"local":[43,92],"metrical":[44],"maps":[45],"are":[46],"established":[47],"using":[48,94],"improved":[49],"Rao-Blackwellized":[50],"particle":[51],"filter.":[52],"addition,":[54],"set":[56,74],"up":[57],"auxiliary":[58],"semantic":[59],"layer":[60],"on":[62,88],"QR":[63],"code.":[64],"unified":[67],"framework":[68],"of":[69,104],"semantic-topological-metric":[70],"up.":[75],"An":[76],"accurate":[77],"result":[79],"was":[80],"obtained":[81],"combine":[83],"positioning":[93],"KLD-MCL,":[95],"Experiments":[96],"shows":[97],"the":[98,102],"can":[100],"meet":[101],"requirements":[103]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}