{"id":"https://openalex.org/W2045306414","doi":"https://doi.org/10.1109/tie.2011.2141090","title":"Enriched Indoor Map Construction Based on Multisensor Fusion Approach for Intelligent Service Robot","display_name":"Enriched Indoor Map Construction Based on Multisensor Fusion Approach for Intelligent Service Robot","publication_year":2011,"publication_date":"2011-04-12","ids":{"openalex":"https://openalex.org/W2045306414","doi":"https://doi.org/10.1109/tie.2011.2141090","mag":"2045306414"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2011.2141090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2011.2141090","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5113503581","display_name":"Ren C. Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Ren C. Luo","raw_affiliation_strings":["Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090698142","display_name":"Chun-Chi Lai","orcid":"https://orcid.org/0000-0001-9077-0858"},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]},{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun C. Lai","raw_affiliation_strings":["Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","Department of Electrical Engineering, National Chung Cheng University, Chiayi, Taiwan"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Cheng University, Chiayi, Taiwan","institution_ids":["https://openalex.org/I148099254"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113503581"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":16.12214394,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.99459267,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"59","issue":"8","first_page":"3135","last_page":"3145"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.8240028619766235},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6991617679595947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6661019325256348},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6260020732879639},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.6104493737220764},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6045049428939819},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5623881816864014},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5392772555351257},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5183880925178528},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.4974716007709503},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4904462993144989},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.46301648020744324},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.41176074743270874},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3524821102619171},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34041303396224976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21750187873840332},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1542135775089264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15414926409721375},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.11567160487174988},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.09750941395759583}],"concepts":[{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.8240028619766235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6991617679595947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6661019325256348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6260020732879639},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.6104493737220764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6045049428939819},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5623881816864014},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5392772555351257},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5183880925178528},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.4974716007709503},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4904462993144989},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.46301648020744324},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.41176074743270874},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3524821102619171},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34041303396224976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21750187873840332},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1542135775089264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15414926409721375},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.11567160487174988},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.09750941395759583},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2011.2141090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2011.2141090","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"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":21,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W2003258311","https://openalex.org/W2011754354","https://openalex.org/W2022780873","https://openalex.org/W2024991751","https://openalex.org/W2049981393","https://openalex.org/W2099054986","https://openalex.org/W2100769971","https://openalex.org/W2103393159","https://openalex.org/W2109364787","https://openalex.org/W2112580722","https://openalex.org/W2115990511","https://openalex.org/W2128873520","https://openalex.org/W2132372766","https://openalex.org/W2137837705","https://openalex.org/W2146881125","https://openalex.org/W2151103935","https://openalex.org/W2152195021","https://openalex.org/W2556782358","https://openalex.org/W3210839039","https://openalex.org/W6675456536"],"related_works":["https://openalex.org/W2543883930","https://openalex.org/W2034294006","https://openalex.org/W2152662039","https://openalex.org/W2963091090","https://openalex.org/W2564786226","https://openalex.org/W1885346831","https://openalex.org/W2041166599","https://openalex.org/W2165640264","https://openalex.org/W2141498523","https://openalex.org/W2127578024"],"abstract_inverted_index":{"The":[0,31],"objective":[1],"of":[2,122],"this":[3,55],"paper":[4],"is":[5,33,82],"to":[6,84],"have":[7,116],"an":[8,34,78],"intelligent":[9],"service":[10],"robot":[11],"that":[12],"not":[13],"only":[14],"autonomously":[15],"estimates":[16],"the":[17,24,29,39,47,86,98,112,120,128],"environment":[18,40,104],"structure":[19],"but":[20],"also":[21],"simultaneously":[22],"detects":[23],"commonly":[25],"recognized":[26],"symbols/signs":[27],"in":[28,89,127],"building.":[30],"result":[32],"information-enriched":[35],"map":[36,106],"constructed":[37,110],"by":[38],"geometry":[41],"from":[42,50],"a":[43,90,102],"laser":[44],"ranger":[45],"and":[46,64,74,94,124],"indoor":[48],"indicators":[49],"visual":[51],"image.":[52],"To":[53],"implement":[54],"enriched":[56,105],"map,":[57],"multisensor":[58],"fusion":[59],"techniques,":[60],"i.e.,":[61],"covariance":[62,65],"intersection":[63],"union,":[66],"are":[67],"tactically":[68],"utilized":[69],"for":[70],"robust":[71],"pose":[72],"association":[73],"sign":[75],"estimation.":[76],"Furthermore,":[77],"improved":[79],"alignment":[80],"technique":[81],"applied":[83],"promote":[85],"mapping":[87,95],"precision":[88],"single":[91],"simultaneous":[92],"localization":[93],"process":[96],"with":[97,111],"posterior":[99],"convenience.":[100],"Additionally,":[101],"2.5-D":[103],"has":[107],"been":[108],"rapidly":[109],"Mesa":[113],"SwissRanger.":[114],"We":[115],"successfully":[117],"experimentally":[118],"demonstrated":[119],"proof":[121],"concept":[123],"summarized":[125],"it":[126],"conclusion.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":17},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}