{"id":"https://openalex.org/W3174083630","doi":"https://doi.org/10.1109/tro.2022.3197106","title":"Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference","display_name":"Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference","publication_year":2022,"publication_date":"2022-08-31","ids":{"openalex":"https://openalex.org/W3174083630","doi":"https://doi.org/10.1109/tro.2022.3197106","mag":"3174083630"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3197106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3197106","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2106.14986","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020892545","display_name":"Lu Gan","orcid":"https://orcid.org/0000-0003-0911-8032"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lu Gan","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101571418","display_name":"Youngji Kim","orcid":"https://orcid.org/0000-0003-0497-7401"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngji Kim","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessy W. Grizzle","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012218945","display_name":"Jeffrey M. Walls","orcid":"https://orcid.org/0000-0001-6887-7552"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeffrey M. Walls","raw_affiliation_strings":["Woven Planet Holdings, Inc., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc., Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740100","display_name":"Ayoung Kim","orcid":"https://orcid.org/0000-0001-9829-2408"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ayoung Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5020892545"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":10.8324,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97515433,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"39","issue":"1","first_page":"699","last_page":"717"},"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/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10036","display_name":"Advanced Neural Network Applications","score":0.9861000180244446,"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/computer-science","display_name":"Computer science","score":0.7345321774482727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6669718623161316},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5943291783332825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5714111328125},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5557199120521545},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4500869810581207},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.445264995098114},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4329730272293091},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.23587071895599365}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7345321774482727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6669718623161316},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5943291783332825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5714111328125},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5557199120521545},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4500869810581207},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.445264995098114},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4329730272293091},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.23587071895599365},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2022.3197106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3197106","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:arXiv.org:2106.14986","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.14986","pdf_url":"https://arxiv.org/pdf/2106.14986","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/186687","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/186687","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2106.14986","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.14986","pdf_url":"https://arxiv.org/pdf/2106.14986","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G2292663172","display_name":null,"funder_award_id":"2019K1A3A1A12069741","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":123,"referenced_works":["https://openalex.org/W91269655","https://openalex.org/W97351935","https://openalex.org/W1187244281","https://openalex.org/W1586173270","https://openalex.org/W1663973292","https://openalex.org/W1903029394","https://openalex.org/W1912649600","https://openalex.org/W1963976321","https://openalex.org/W1974868116","https://openalex.org/W1978289112","https://openalex.org/W1987648924","https://openalex.org/W1999050017","https://openalex.org/W2000321478","https://openalex.org/W2027809320","https://openalex.org/W2030021468","https://openalex.org/W2042452952","https://openalex.org/W2049207102","https://openalex.org/W2059681931","https://openalex.org/W2097696373","https://openalex.org/W2133048394","https://openalex.org/W2133844819","https://openalex.org/W2136097307","https://openalex.org/W2136213179","https://openalex.org/W2142879048","https://openalex.org/W2144652450","https://openalex.org/W2150066425","https://openalex.org/W2151175624","https://openalex.org/W2161808137","https://openalex.org/W2243794092","https://openalex.org/W2335829695","https://openalex.org/W2340897893","https://openalex.org/W2346044757","https://openalex.org/W2412782625","https://openalex.org/W2432541215","https://openalex.org/W2461937780","https://openalex.org/W2523049145","https://openalex.org/W2535547924","https://openalex.org/W2536431081","https://openalex.org/W2549401308","https://openalex.org/W2558580397","https://openalex.org/W2562137921","https://openalex.org/W2607968634","https://openalex.org/W2624871570","https://openalex.org/W2732158194","https://openalex.org/W2752782242","https://openalex.org/W2759784938","https://openalex.org/W2787091153","https://openalex.org/W2809054577","https://openalex.org/W2890250492","https://openalex.org/W2890538051","https://openalex.org/W2898693872","https://openalex.org/W2913340405","https://openalex.org/W2913921102","https://openalex.org/W2919379406","https://openalex.org/W2922329393","https://openalex.org/W2945883617","https://openalex.org/W2950673314","https://openalex.org/W2957348723","https://openalex.org/W2962864421","https://openalex.org/W2962945654","https://openalex.org/W2963211188","https://openalex.org/W2963357556","https://openalex.org/W2963393838","https://openalex.org/W2963420686","https://openalex.org/W2963424321","https://openalex.org/W2963430933","https://openalex.org/W2963677766","https://openalex.org/W2963877604","https://openalex.org/W2964247799","https://openalex.org/W2964254867","https://openalex.org/W2964309882","https://openalex.org/W2964334191","https://openalex.org/W2973181288","https://openalex.org/W2973973640","https://openalex.org/W2980040548","https://openalex.org/W2990129662","https://openalex.org/W2999344697","https://openalex.org/W3000625188","https://openalex.org/W3003174489","https://openalex.org/W3003971676","https://openalex.org/W3005733514","https://openalex.org/W3014771270","https://openalex.org/W3034672970","https://openalex.org/W3039925688","https://openalex.org/W3085046840","https://openalex.org/W3087549734","https://openalex.org/W3090386798","https://openalex.org/W3096411729","https://openalex.org/W3097896090","https://openalex.org/W3098085399","https://openalex.org/W3099727102","https://openalex.org/W3102129812","https://openalex.org/W3102327032","https://openalex.org/W3102330937","https://openalex.org/W3107562115","https://openalex.org/W3124420883","https://openalex.org/W3132270109","https://openalex.org/W3133315229","https://openalex.org/W4212863985","https://openalex.org/W4226236972","https://openalex.org/W4232280717","https://openalex.org/W4239943352","https://openalex.org/W4253729359","https://openalex.org/W4283332944","https://openalex.org/W4284974155","https://openalex.org/W4301141993","https://openalex.org/W6603706610","https://openalex.org/W6634982934","https://openalex.org/W6640004471","https://openalex.org/W6679929907","https://openalex.org/W6718046261","https://openalex.org/W6738045163","https://openalex.org/W6738279954","https://openalex.org/W6739365718","https://openalex.org/W6745072397","https://openalex.org/W6745642626","https://openalex.org/W6745995898","https://openalex.org/W6754005058","https://openalex.org/W6755791307","https://openalex.org/W6763070779","https://openalex.org/W6778317744","https://openalex.org/W6783292247","https://openalex.org/W6799573682"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W4235240664","https://openalex.org/W2965083567","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W97075385","https://openalex.org/W2357523926"],"abstract_inverted_index":{"In":[0],"this":[1,76],"article,":[2],"we":[3,78,171],"present":[4,145],"a":[5,36,51,64,80,103,119,141,157],"novel":[6],"and":[7,43,55,126,153,162,191],"flexible":[8],"multitask":[9,81],"multilayer":[10],"Bayesian":[11,106],"mapping":[12,38,165],"framework":[13,21,116,177],"with":[14,72,85,108],"readily":[15],"extendable":[16],"attribute":[17],"layers.":[18,128,198],"The":[19,199],"proposed":[20],"goes":[22],"beyond":[23],"modern":[24],"metric-semantic":[25,124],"maps":[26,61],"to":[27,53,91,117,181],"provide":[28,92],"even":[29],"richer":[30],"environmental":[31],"information":[32,57],"for":[33,50,95,201],"robots":[34,70],"in":[35,140,167],"single":[37],"formalism":[39],"while":[40],"exploiting":[41],"intralayer":[42],"interlayer":[44],"correlations.":[45],"It":[46],"removes":[47],"the":[48,68,115,175,203],"need":[49],"robot":[52,160],"access":[54],"process":[56],"from":[58,136],"many":[59],"separate":[60],"when":[62],"performing":[63],"complex":[65],"task,":[66],"advancing":[67],"way":[69],"interact":[71],"their":[73],"environments.":[74,169],"To":[75],"end,":[77],"design":[79],"deep":[82],"neural":[83],"network":[84],"attention":[86],"mechanisms":[87],"as":[88,186],"our":[89],"front-end":[90],"heterogeneous":[93],"observations":[94],"multiple":[96],"map":[97,197],"layers":[98],"simultaneously.":[99],"Our":[100],"back-end":[101],"runs":[102],"scalable":[104],"closed-form":[105],"inference":[107],"only":[109],"logarithmic":[110],"time":[111],"complexity.":[112],"We":[113,144],"apply":[114],"build":[118],"dense":[120],"robotic":[121],"map,":[122],"including":[123],"occupancy":[125],"traversability":[127],"Traversability":[129],"ground":[130],"truth":[131],"labels":[132],"are":[133],"automatically":[134],"generated":[135],"exteroceptive":[137],"sensory":[138],"data":[139,154,210],"self-supervised":[142],"manner.":[143],"extensive":[146],"experimental":[147],"results":[148,205],"on":[149,208],"publicly":[150,213],"available":[151],"datasets":[152],"collected":[155],"by":[156],"three-dimensional":[158],"bipedal":[159],"platform":[161],"show":[163],"reliable":[164],"performance":[166],"different":[168],"Finally,":[170],"also":[172],"discuss":[173],"how":[174],"current":[176],"can":[178],"be":[179],"extended":[180],"incorporate":[182],"more":[183],"information,":[184],"such":[185],"friction,":[187],"signal":[188],"strength,":[189],"temperature,":[190],"physical":[192],"quantity":[193],"concentration":[194],"using":[195],"Gaussian":[196],"software":[200],"reproducing":[202],"presented":[204],"or":[206],"running":[207],"customized":[209],"is":[211],"made":[212],"available.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
