{"id":"https://openalex.org/W2341939958","doi":"https://doi.org/10.1109/tro.2016.2544301","title":"Coarse-to-Fine Localization for a Mobile Robot Based on Place Learning With a 2-D Range Scan","display_name":"Coarse-to-Fine Localization for a Mobile Robot Based on Place Learning With a 2-D Range Scan","publication_year":2016,"publication_date":"2016-04-20","ids":{"openalex":"https://openalex.org/W2341939958","doi":"https://doi.org/10.1109/tro.2016.2544301","mag":"2341939958"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2544301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2544301","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081407046","display_name":"Soonyong Park","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Soonyong Park","raw_affiliation_strings":["Global Technology Center, Samsung Electronics, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Global Technology Center, Samsung Electronics, Suwon, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103648207","display_name":"Kyung Shik Roh","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyung Shik Roh","raw_affiliation_strings":["Global Technology Center, Samsung Electronics, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Global Technology Center, Samsung Electronics, Suwon, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081407046"],"corresponding_institution_ids":["https://openalex.org/I2250650973"],"apc_list":null,"apc_paid":null,"fwci":9.9201,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97488325,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"3","first_page":"528","last_page":"544"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9965999722480774,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7644060850143433},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6911975741386414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041877269744873},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.5676084756851196},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5642516016960144},{"id":"https://openalex.org/keywords/shape-context","display_name":"Shape context","score":0.5515987277030945},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5261720418930054},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.4796312749385834},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4778434932231903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.476081520318985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4489915072917938},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.43045222759246826},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4183264970779419},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26380622386932373}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7644060850143433},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6911975741386414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041877269744873},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.5676084756851196},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5642516016960144},{"id":"https://openalex.org/C2779662243","wikidata":"https://www.wikidata.org/wiki/Q970395","display_name":"Shape context","level":3,"score":0.5515987277030945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5261720418930054},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.4796312749385834},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4778434932231903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.476081520318985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4489915072917938},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.43045222759246826},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4183264970779419},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26380622386932373},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2016.2544301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2544301","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W605887985","https://openalex.org/W1490682695","https://openalex.org/W1521785144","https://openalex.org/W1537017777","https://openalex.org/W1601378499","https://openalex.org/W1764461045","https://openalex.org/W1983273045","https://openalex.org/W1989524189","https://openalex.org/W1990283121","https://openalex.org/W2020707322","https://openalex.org/W2028745452","https://openalex.org/W2057175746","https://openalex.org/W2071571922","https://openalex.org/W2107034620","https://openalex.org/W2108833445","https://openalex.org/W2109235804","https://openalex.org/W2115181176","https://openalex.org/W2117892041","https://openalex.org/W2118104180","https://openalex.org/W2120715378","https://openalex.org/W2121453698","https://openalex.org/W2125993116","https://openalex.org/W2129249398","https://openalex.org/W2131015148","https://openalex.org/W2131546647","https://openalex.org/W2139765204","https://openalex.org/W2146020873","https://openalex.org/W2149426093","https://openalex.org/W2150066425","https://openalex.org/W2152322845","https://openalex.org/W2157657326","https://openalex.org/W2160584648","https://openalex.org/W2161406034","https://openalex.org/W2165848869","https://openalex.org/W2165874743","https://openalex.org/W2168952092","https://openalex.org/W2171852577","https://openalex.org/W2222512263","https://openalex.org/W4230681702","https://openalex.org/W4246444020","https://openalex.org/W6632050521","https://openalex.org/W6638006888","https://openalex.org/W6647720119","https://openalex.org/W6677363095","https://openalex.org/W6683427099","https://openalex.org/W6684578312","https://openalex.org/W6685529966"],"related_works":["https://openalex.org/W3130035014","https://openalex.org/W3097864550","https://openalex.org/W2058362826","https://openalex.org/W4210470126","https://openalex.org/W3010770189","https://openalex.org/W2410890952","https://openalex.org/W3204018997","https://openalex.org/W2890234822","https://openalex.org/W4213454840","https://openalex.org/W4388855406"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,20,27,56,141],"new":[4],"coarse-to-fine":[5],"global":[6,90],"localization":[7,91,98,103,120],"approach":[8,66],"based":[9],"on":[10],"place":[11,32,107],"learning":[12],"with":[13,55,129,140],"2-D":[15],"range":[16],"scan;":[17],"we":[18,48],"use":[19],"support":[21],"vector":[22],"machine":[23],"(SVM)":[24],"to":[25,69,125],"train":[26],"set":[28],"of":[29,38,94,160,169],"classifiers":[30],"for":[31,73,154],"recognition.":[33],"Exploiting":[34],"the":[35,50,75,80,105,113,122,126,136,147,161,167],"graphical":[36],"property":[37],"generalized":[39],"Voronoi":[40],"graph":[41],"extracted":[42],"from":[43,85,104],"an":[44],"occupancy":[45],"grid":[46],"map,":[47],"segment":[49],"map":[51],"into":[52],"local":[53],"places":[54,111,128],"spectral":[57,131],"clustering":[58],"algorithm":[59],"and":[60,99,118,134,172],"wavefront":[61],"propagation":[62],"algorithm.":[63],"A":[64],"bag-of-words":[65],"is":[67,164],"employed":[68],"build":[70],"feature":[71],"vectors":[72],"training":[74],"SVM":[76],"classifiers,":[77],"which":[78,146],"utilizes":[79],"shape":[81],"context":[82],"descriptors":[83],"computed":[84],"each":[86],"scan":[87,132],"point.":[88],"The":[89,158],"process":[92],"consists":[93],"two":[95],"stages:":[96],"coarse":[97],"fine":[100,119],"localization.":[101],"Coarse":[102],"SVM-based":[106],"recognition":[108],"selects":[109],"candidate":[110,127,148],"where":[112],"robot":[114,138],"may":[115],"be":[116],"located,":[117],"computes":[121],"relative":[123],"poses":[124,149],"fast":[130],"matching":[133],"estimates":[135],"correct":[137],"pose":[139],"particle":[142],"filter":[143],"algorithm,":[144],"in":[145],"are":[150],"exploited":[151],"as":[152],"seeds":[153],"initial":[155],"random":[156],"sampling.":[157],"feasibility":[159],"proposed":[162],"methods":[163],"demonstrated":[165],"by":[166],"results":[168],"extensive":[170],"simulations":[171],"experiments.":[173]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
