{"id":"https://openalex.org/W3188614947","doi":"https://doi.org/10.1109/ur52253.2021.9494685","title":"Floorplan-based Localization and Map Update Using LiDAR Sensor","display_name":"Floorplan-based Localization and Map Update Using LiDAR Sensor","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3188614947","doi":"https://doi.org/10.1109/ur52253.2021.9494685","mag":"3188614947"},"language":"en","primary_location":{"id":"doi:10.1109/ur52253.2021.9494685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","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/A5087476767","display_name":"Seungwon Song","orcid":"https://orcid.org/0000-0002-3394-8936"},"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":true,"raw_author_name":"Seungwon Song","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"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":"Hyun Myung","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087476767"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.3008,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55896509,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"30","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/floorplan","display_name":"Floorplan","score":0.9814809560775757},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7533050775527954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6625685691833496},{"id":"https://openalex.org/keywords/ceiling","display_name":"Ceiling (cloud)","score":0.6438940763473511},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5114254355430603},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4771292209625244},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.47402364015579224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38943588733673096},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.25025874376296997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.162908673286438},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1049230694770813},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09455534815788269}],"concepts":[{"id":"https://openalex.org/C130145326","wikidata":"https://www.wikidata.org/wiki/Q1553985","display_name":"Floorplan","level":2,"score":0.9814809560775757},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7533050775527954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6625685691833496},{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.6438940763473511},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5114254355430603},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4771292209625244},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.47402364015579224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38943588733673096},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.25025874376296997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.162908673286438},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1049230694770813},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09455534815788269},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur52253.2021.9494685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311687","display_name":"Ministry of Education","ror":"https://ror.org/03m01yf64"},{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1969511390","https://openalex.org/W1973046761","https://openalex.org/W2105061875","https://openalex.org/W2145023731","https://openalex.org/W2160584648","https://openalex.org/W2904669734","https://openalex.org/W2965891035","https://openalex.org/W3004138340","https://openalex.org/W3108492605","https://openalex.org/W3175237403","https://openalex.org/W3175304168","https://openalex.org/W6757597244","https://openalex.org/W6786525841","https://openalex.org/W6787207604"],"related_works":["https://openalex.org/W2055008360","https://openalex.org/W1500063550","https://openalex.org/W215057456","https://openalex.org/W2135118255","https://openalex.org/W2165891825","https://openalex.org/W2106366463","https://openalex.org/W1535718467","https://openalex.org/W4231092740","https://openalex.org/W4239364405","https://openalex.org/W2139279266"],"abstract_inverted_index":{"In":[0],"this":[1,53],"paper,":[2],"we":[3],"propose":[4],"a":[5,25],"novel":[6],"localization":[7,22,56],"and":[8,18,30,57,78,105,134,179],"map":[9,29,58],"update":[10,59],"method":[11,60],"for":[12],"indoor":[13,21],"using":[14,116],"the":[15,35,40,55,63,94,99,102,106,111,117,123,132,135,145,152,165,176,181,183,186],"LIDAR":[16],"sensor":[17],"floorplan.":[19],"Existing":[20],"algorithms":[23],"need":[24],"previously":[26],"generated":[27],"3D":[28,72],"match":[31],"those":[32],"maps":[33],"to":[34,38,87,129,142,157],"actual":[36,136,177],"structure":[37,146],"get":[39],"precise":[41],"location":[42],"because":[43],"there":[44],"is":[45,68,84,108,155,173],"no":[46],"position":[47,107,154],"reference":[48],"like":[49,147],"GPS.":[50],"To":[51],"solve":[52],"problem,":[54],"based":[61],"on":[62],"floorplan,":[64],"which":[65,83],"generally":[66],"exists,":[67],"proposed.":[69],"For":[70],"this,":[71],"LiDAR":[73],"point":[74],"clouds":[75],"are":[76,81,96,126,162],"accumulated,":[77],"ceiling":[79,103,124],"parts":[80,125],"extracted,":[82],"less":[85,127],"sensitive":[86,128],"environmental":[88,130],"changes":[89],"such":[90],"as":[91],"furniture.":[92],"Thereafter,":[93],"lines":[95,161],"extracted":[97,160],"from":[98],"border":[100],"of":[101,144,185],"parts,":[104],"estimated":[109,153],"through":[110,180],"Monte":[112],"Carlo":[113],"Localization":[114],"algorithm":[115,172,187],"comparison":[118],"with":[119,164],"floorplan":[120,133,167],"lines.":[121],"Even":[122],"changes,":[131],"environment":[137],"may":[138],"be":[139,158],"different":[140],"due":[141],"modification":[143],"added":[148],"walls.":[149],"Therefore,":[150],"if":[151],"determined":[156],"accurate,":[159],"merged":[163],"previous":[166],"line":[168],"map.":[169],"The":[170],"proposed":[171],"tested":[174],"in":[175],"environment,":[178],"results,":[182],"performance":[184],"has":[188],"been":[189],"verified.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}