{"id":"https://openalex.org/W2161531836","doi":"https://doi.org/10.1109/iros.2012.6386114","title":"Map merging using hough peak matching","display_name":"Map merging using hough peak matching","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2161531836","doi":"https://doi.org/10.1109/iros.2012.6386114","mag":"2161531836"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386114","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5047941621","display_name":"Sajad Saeedi","orcid":"https://orcid.org/0000-0002-6385-6127"},"institutions":[{"id":"https://openalex.org/I106938459","display_name":"University of New Brunswick","ror":"https://ror.org/05nkf0n29","country_code":"CA","type":"education","lineage":["https://openalex.org/I106938459"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Sajad Saeedi","raw_affiliation_strings":["COBRA Group, University of New Brunswick, Fredericton, Canada"],"affiliations":[{"raw_affiliation_string":"COBRA Group, University of New Brunswick, Fredericton, Canada","institution_ids":["https://openalex.org/I106938459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037065865","display_name":"Liam Paull","orcid":"https://orcid.org/0000-0003-2492-6660"},"institutions":[{"id":"https://openalex.org/I106938459","display_name":"University of New Brunswick","ror":"https://ror.org/05nkf0n29","country_code":"CA","type":"education","lineage":["https://openalex.org/I106938459"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Liam Paull","raw_affiliation_strings":["COBRA Group, University of New Brunswick, Fredericton, Canada"],"affiliations":[{"raw_affiliation_string":"COBRA Group, University of New Brunswick, Fredericton, Canada","institution_ids":["https://openalex.org/I106938459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108212076","display_name":"Michael Trentini","orcid":null},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"funder","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael Trentini","raw_affiliation_strings":["Defence Research and Development Canada, Suffield, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Defence Research and Development Canada, Suffield, AB, Canada","institution_ids":["https://openalex.org/I1297460800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032455915","display_name":"Mae Seto","orcid":"https://orcid.org/0000-0002-7835-981X"},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"funder","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mae Seto","raw_affiliation_strings":["Defence Research and Development Canada, Atlantic, NS, Canada"],"affiliations":[{"raw_affiliation_string":"Defence Research and Development Canada, Atlantic, NS, Canada","institution_ids":["https://openalex.org/I1297460800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120311988","display_name":"Howard Li","orcid":"https://orcid.org/0000-0002-6359-0349"},"institutions":[{"id":"https://openalex.org/I106938459","display_name":"University of New Brunswick","ror":"https://ror.org/05nkf0n29","country_code":"CA","type":"education","lineage":["https://openalex.org/I106938459"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Howard Li","raw_affiliation_strings":["COBRA Group, University of New Brunswick, Fredericton, Canada"],"affiliations":[{"raw_affiliation_string":"COBRA Group, University of New Brunswick, Fredericton, Canada","institution_ids":["https://openalex.org/I106938459"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047941621"],"corresponding_institution_ids":["https://openalex.org/I106938459"],"apc_list":null,"apc_paid":null,"fwci":7.1561,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.96619691,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4683","last_page":"4688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9914000034332275,"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/hough-transform","display_name":"Hough transform","score":0.8875808715820312},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8450207710266113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6886857748031616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.642970085144043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6243704557418823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5815985202789307},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5677632093429565},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5536530613899231},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5125312805175781},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5096137523651123},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5076624155044556},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4726884663105011},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4582812190055847},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44154953956604004},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4398784637451172},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4270842373371124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33169791102409363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22577163577079773},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.21840715408325195},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1796482801437378},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08114179968833923}],"concepts":[{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.8875808715820312},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8450207710266113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6886857748031616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.642970085144043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6243704557418823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5815985202789307},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5677632093429565},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5536530613899231},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5125312805175781},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5096137523651123},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5076624155044556},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4726884663105011},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4582812190055847},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44154953956604004},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4398784637451172},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4270842373371124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33169791102409363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22577163577079773},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21840715408325195},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1796482801437378},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08114179968833923},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386114","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1584640914","https://openalex.org/W1606157100","https://openalex.org/W2025801240","https://openalex.org/W2029724021","https://openalex.org/W2045995235","https://openalex.org/W2058933750","https://openalex.org/W2064157587","https://openalex.org/W2072542338","https://openalex.org/W2087556068","https://openalex.org/W2092371500","https://openalex.org/W2104502110","https://openalex.org/W2118429180","https://openalex.org/W2133846307","https://openalex.org/W2134250996","https://openalex.org/W2159477781","https://openalex.org/W2168110171","https://openalex.org/W2170229019","https://openalex.org/W6635851590"],"related_works":["https://openalex.org/W3130035014","https://openalex.org/W4210470126","https://openalex.org/W4319458852","https://openalex.org/W2101410970","https://openalex.org/W3003506236","https://openalex.org/W2515381329","https://openalex.org/W3035974924","https://openalex.org/W3097864550","https://openalex.org/W4387452725","https://openalex.org/W4315472299"],"abstract_inverted_index":{"One":[0],"of":[1,69],"the":[2,10,32,57,70,77,81,89,93],"major":[3],"problems":[4],"for":[5],"multi-robot":[6],"SLAM":[7],"is":[8,35,50],"that":[9],"robots":[11,39],"only":[12],"know":[13],"their":[14,17],"positions":[15],"in":[16,64,80],"own":[18],"local":[19],"coordinate":[20],"frames,":[21],"so":[22],"fusing":[23],"map":[24,45],"data":[25,103],"can":[26],"be":[27],"challenging.":[28],"In":[29],"this":[30],"research,":[31],"mapping":[33],"process":[34],"extended":[36],"to":[37,75,87],"multiple":[38,109],"with":[40,108],"a":[41],"novel":[42],"occupancy":[43],"grid":[44],"fusion":[46,49],"algorithm.":[47],"Map":[48],"achieved":[51],"by":[52],"transforming":[53],"individual":[54],"maps":[55],"into":[56],"Hough":[58,71],"space":[59],"where":[60],"they":[61],"are":[62,73,84,96],"represented":[63],"an":[65],"abstract":[66],"form.":[67],"Properties":[68],"transform":[72],"used":[74,86],"find":[76],"common":[78],"regions":[79],"maps,":[82],"which":[83],"then":[85],"calculate":[88],"unknown":[90],"transformation":[91],"between":[92],"maps.":[94],"Results":[95],"shown":[97],"from":[98],"tests":[99],"performed":[100],"on":[101],"benchmark":[102],"sets":[104],"and":[105],"real-world":[106],"experiments":[107],"robotic":[110],"platforms.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
