{"id":"https://openalex.org/W1969807202","doi":"https://doi.org/10.1163/156855311x617542","title":"Efficient Simultaneous Localization and Mapping Based on Ceiling-View: Ceiling Boundary Feature Map Approach","display_name":"Efficient Simultaneous Localization and Mapping Based on Ceiling-View: Ceiling Boundary Feature Map Approach","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1969807202","doi":"https://doi.org/10.1163/156855311x617542","mag":"1969807202"},"language":"en","primary_location":{"id":"doi:10.1163/156855311x617542","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x617542","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5075014297","display_name":"Hyukdoo Choi","orcid":"https://orcid.org/0000-0002-6051-1043"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyukdoo Choi","raw_affiliation_strings":["a    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea"],"affiliations":[{"raw_affiliation_string":"a    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064733340","display_name":"Dong Yeop Kim","orcid":"https://orcid.org/0000-0003-2543-7631"},"institutions":[{"id":"https://openalex.org/I4210131650","display_name":"Korea Electronics Technology Institute","ror":"https://ror.org/039k6f508","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210089395","https://openalex.org/I4210131650"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Yeop Kim","raw_affiliation_strings":["b    Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea"],"affiliations":[{"raw_affiliation_string":"b    Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","institution_ids":["https://openalex.org/I4210131650"]},{"raw_affiliation_string":"Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","institution_ids":["https://openalex.org/I4210131650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110125136","display_name":"Jae Pil Hwang","orcid":null},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Pil Hwang","raw_affiliation_strings":["c    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea"],"affiliations":[{"raw_affiliation_string":"c    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111532285","display_name":"Chang-Woo Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131650","display_name":"Korea Electronics Technology Institute","ror":"https://ror.org/039k6f508","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210089395","https://openalex.org/I4210131650"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Woo Park","raw_affiliation_strings":["d    Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea"],"affiliations":[{"raw_affiliation_string":"d    Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","institution_ids":["https://openalex.org/I4210131650"]},{"raw_affiliation_string":"Korea Electronics Technology Institute, Bucheon Technopark, 4 Danji Apartments, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do 420-734, South Korea","institution_ids":["https://openalex.org/I4210131650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065415014","display_name":"Euntai Kim","orcid":"https://orcid.org/0000-0002-0975-8390"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Euntai Kim","raw_affiliation_strings":["e    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea;, Email: etkim@yonsei.ac.kr","School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea;, Email: etkim@yonsei.ac.kr"],"affiliations":[{"raw_affiliation_string":"e    School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea;, Email: etkim@yonsei.ac.kr","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, C613, Sinchon-dong, Seodaemun-gu, Seoul 120-749, South Korea;, Email: etkim@yonsei.ac.kr","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5075014297"],"corresponding_institution_ids":["https://openalex.org/I193775966"],"apc_list":null,"apc_paid":null,"fwci":6.87955243,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97391998,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"5-6","first_page":"653","last_page":"671"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9962000250816345,"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/ceiling","display_name":"Ceiling (cloud)","score":0.9116961359977722},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8340747952461243},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6874837279319763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6338704824447632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5830248594284058},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5545265078544617},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5274515151977539},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.522344708442688},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4951111376285553},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.4536249041557312},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36468541622161865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2349463701248169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19378086924552917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1601490080356598},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0655089020729065}],"concepts":[{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.9116961359977722},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8340747952461243},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6874837279319763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6338704824447632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5830248594284058},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5545265078544617},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5274515151977539},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.522344708442688},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4951111376285553},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.4536249041557312},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36468541622161865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2349463701248169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19378086924552917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1601490080356598},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0655089020729065},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855311x617542","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x617542","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515234816","https://openalex.org/W1989496439","https://openalex.org/W1997008241","https://openalex.org/W2060922083","https://openalex.org/W2075500716","https://openalex.org/W2088888418","https://openalex.org/W2105380074","https://openalex.org/W2107815819","https://openalex.org/W2112669647","https://openalex.org/W2118830119","https://openalex.org/W2137052305","https://openalex.org/W2145386552","https://openalex.org/W2148820580","https://openalex.org/W2152671441","https://openalex.org/W2154202063","https://openalex.org/W2154233136","https://openalex.org/W2155583629","https://openalex.org/W2162117114","https://openalex.org/W2162591143","https://openalex.org/W2163419695","https://openalex.org/W2164588453","https://openalex.org/W2336416123"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2005337052","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"For":[0],"simultaneous":[1],"localization":[2],"and":[3,54,72,97,138,140],"mapping":[4],"(SLAM)":[5],"based":[6,34,89],"on":[7,26,35,86,90],"the":[8,12,15,23,43,46,50,79,87,91,94,109,116,123,126,130],"extended":[9],"Kalman":[10],"filter,":[11],"size":[13,44],"of":[14,45,93,115,125],"state":[16,47],"vector":[17,48],"is":[18,39,105,119,133,143],"an":[19,98],"essential":[20],"factor":[21],"because":[22],"feasibility":[24],"depends":[25],"it.":[27],"In":[28],"this":[29],"paper,":[30],"a":[31],"new":[32],"SLAM":[33,62,110,132],"ceiling":[36,53,65,95],"vision":[37],"(cv-SLAM)":[38],"proposed.":[40],"To":[41],"keep":[42],"compact,":[49],"boundaries":[51,66,96],"between":[52],"walls":[55],"are":[56,67,74,84],"used":[57],"as":[58,76,78],"landmarks":[59],"for":[60],"visual":[61],"(vSLAM).":[63],"The":[64,112],"robust":[68],"to":[69,107,120,135],"illuminative":[70],"variations":[71],"they":[73],"not":[75],"numerous":[77],"point":[80],"features.":[81,128],"Some":[82],"constraints":[83],"imposed":[85],"features":[88],"characteristics":[92],"efficient":[99],"update":[100,118],"method":[101],"called":[102],"'double":[103],"update'":[104],"proposed":[106,131],"improve":[108],"performance.":[111],"basic":[113],"idea":[114],"double":[117],"fully":[121],"utilize":[122],"intersections":[124],"boundary":[127],"Finally,":[129],"applied":[134],"some":[136],"simulations":[137],"experiment,":[139],"its":[141],"effectiveness":[142],"demonstrated":[144],"through":[145],"them.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}