{"id":"https://openalex.org/W2097081105","doi":"https://doi.org/10.1109/tro.2008.2003259","title":"Sparse Local Submap Joining Filter for Building Large-Scale Maps","display_name":"Sparse Local Submap Joining Filter for Building Large-Scale Maps","publication_year":2008,"publication_date":"2008-09-18","ids":{"openalex":"https://openalex.org/W2097081105","doi":"https://doi.org/10.1109/tro.2008.2003259","mag":"2097081105"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2003259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2003259","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/9354/4/2008000207_Huang.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I1337719021","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86","country_code":"AU","type":"government","lineage":["https://openalex.org/I1337719021","https://openalex.org/I2801453606","https://openalex.org/I4210132349"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I1337719021","https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101770876","display_name":"Zhan Wang","orcid":"https://orcid.org/0000-0002-4399-4629"},"institutions":[{"id":"https://openalex.org/I1337719021","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86","country_code":"AU","type":"government","lineage":["https://openalex.org/I1337719021","https://openalex.org/I2801453606","https://openalex.org/I4210132349"]},{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zhan Wang","raw_affiliation_strings":["Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I1337719021","https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I1337719021","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86","country_code":"AU","type":"government","lineage":["https://openalex.org/I1337719021","https://openalex.org/I2801453606","https://openalex.org/I4210132349"]},{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G. Dissanayake","raw_affiliation_strings":["Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Australian Research Council (ARC) Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I1337719021","https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061250474"],"corresponding_institution_ids":["https://openalex.org/I114017466","https://openalex.org/I1337719021"],"apc_list":null,"apc_paid":null,"fwci":228.5362,"has_fulltext":true,"cited_by_count":89,"citation_normalized_percentile":{"value":0.99954802,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"24","issue":"5","first_page":"1121","last_page":"1130"},"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":0.9979000091552734,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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/filter","display_name":"Filter (signal processing)","score":0.7112769484519958},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6755079030990601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6101248264312744},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5809128284454346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5778939127922058},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5719283819198608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5039920210838318},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4851320683956146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45896080136299133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2648038864135742},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17196184396743774}],"concepts":[{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.7112769484519958},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6755079030990601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6101248264312744},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5809128284454346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5778939127922058},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5719283819198608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5039920210838318},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4851320683956146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45896080136299133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2648038864135742},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17196184396743774},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2008.2003259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2003259","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/9354","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/9354","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/9354/4/2008000207_Huang.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/9354","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/9354","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/9354/4/2008000207_Huang.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2097081105.pdf","grobid_xml":"https://content.openalex.org/works/W2097081105.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W14424882","https://openalex.org/W96557935","https://openalex.org/W1512326116","https://openalex.org/W1870652675","https://openalex.org/W1977464512","https://openalex.org/W2001164479","https://openalex.org/W2011754354","https://openalex.org/W2015997601","https://openalex.org/W2033222113","https://openalex.org/W2052997102","https://openalex.org/W2064169939","https://openalex.org/W2066820509","https://openalex.org/W2097012286","https://openalex.org/W2107402720","https://openalex.org/W2108673707","https://openalex.org/W2109513571","https://openalex.org/W2113679823","https://openalex.org/W2113906280","https://openalex.org/W2120353515","https://openalex.org/W2132070397","https://openalex.org/W2142263362","https://openalex.org/W2143864104","https://openalex.org/W2151005018","https://openalex.org/W2154319942","https://openalex.org/W2163016745","https://openalex.org/W2168210109","https://openalex.org/W2336416123","https://openalex.org/W2516013240","https://openalex.org/W6600601755","https://openalex.org/W6682410138"],"related_works":["https://openalex.org/W2379763979","https://openalex.org/W2012910072","https://openalex.org/W2112986586","https://openalex.org/W2073514935","https://openalex.org/W2944187815","https://openalex.org/W2163016745","https://openalex.org/W3112995165","https://openalex.org/W2002810991","https://openalex.org/W2167310049","https://openalex.org/W1236293063"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26,37,79,126,144],"novel":[4,127],"local":[5,15,29,32,52,63,100,164],"submap":[6,16,33,53,148],"joining":[7,17,149],"algorithm":[8,179],"for":[9,109,151],"building":[10],"large-scale":[11,152],"feature-based":[12],"maps:":[13],"sparse":[14,122],"filter":[18,24,77,107],"(SLSJF).":[19],"The":[20,51,73,121,141,172],"input":[21],"to":[22],"the":[23,42,47,58,62,66,71,76,83,88,94,99,113,136,177],"is":[25,34,49,78,143,180],"sequence":[27],"of":[28,57,60,75,86,98,103,162,176],"submaps.":[30,101],"Each":[31],"represented":[35],"in":[36],"coordinate":[38],"frame":[39],"defined":[40],"by":[41,167],"robot":[43,68,95],"pose":[44,69],"at":[45],"which":[46],"map":[48,81],"initiated.":[50],"state":[54,128],"vector":[55,129],"consists":[56],"positions":[59,85],"all":[61,87,93],"features":[64,89],"and":[65,130,146,155,174,185],"final":[67],"within":[70],"submap.":[72],"output":[74],"global":[80,84],"containing":[82],"as":[90,92],"well":[91],"start/end":[96],"poses":[97],"Use":[102],"an":[104],"extended":[105],"information":[106,114],"(EIF)":[108],"fusing":[110],"submaps":[111,165],"makes":[112,135,160],"matrix":[115],"associated":[116],"with":[117,125],"SLSJF":[118,137,142],"exactly":[119],"sparse.":[120],"structure":[123],"together":[124],"covariance":[131],"submatrix":[132],"recovery":[133],"technique":[134],"computationally":[138],"very":[139],"efficient.":[140],"canonical":[145],"efficient":[147],"solution":[150],"simultaneous":[153],"localization":[154],"mapping":[156],"(SLAM)":[157],"problems":[158],"that":[159],"use":[161],"consistent":[163],"generated":[166],"any":[168],"reliable":[169],"SLAM":[170],"algorithm.":[171],"effectiveness":[173],"efficiency":[175],"new":[178],"verified":[181],"through":[182],"computer":[183],"simulations":[184],"experiments.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
