{"id":"https://openalex.org/W2232251213","doi":"https://doi.org/10.1177/0278364915596589","title":"Localization from semantic observations via the matrix permanent","display_name":"Localization from semantic observations via the matrix permanent","publication_year":2015,"publication_date":"2015-10-06","ids":{"openalex":"https://openalex.org/W2232251213","doi":"https://doi.org/10.1177/0278364915596589","mag":"2232251213"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915596589","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596589","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt6185f664/qt6185f664.pdf?t=qaar6y","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066400889","display_name":"Nikolay Atanasov","orcid":"https://orcid.org/0000-0003-0272-7580"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nikolay Atanasov","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004780312","display_name":"Menglong Zhu","orcid":"https://orcid.org/0000-0003-4796-6235"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Menglong Zhu","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050660826","display_name":"Kostas Daniilidis","orcid":"https://orcid.org/0000-0003-0498-0758"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Daniilidis","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r          PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia,\r PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5066400889"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":107.7163,"has_fulltext":true,"cited_by_count":68,"citation_normalized_percentile":{"value":0.99824479,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"1-3","first_page":"73","last_page":"99"},"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":0.9993000030517578,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.7199729084968567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6880651116371155},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5910530686378479},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5622894167900085},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49389582872390747},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.48539742827415466},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.42540544271469116},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4105584919452667},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3918672204017639}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7199729084968567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6880651116371155},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5910530686378479},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5622894167900085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49389582872390747},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.48539742827415466},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.42540544271469116},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4105584919452667},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3918672204017639}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364915596589","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596589","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:escholarship.org:ark:/13030/qt6185f664","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/6185f664","pdf_url":"https://escholarship.org/content/qt6185f664/qt6185f664.pdf?t=qaar6y","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, vol 35, iss 1-3","raw_type":"article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.717.8823","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.717.8823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cis.upenn.edu/%7Ekostas/mypub.dir/atanasov15ijrr.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:escholarship.org:ark:/13030/qt6185f664","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/6185f664","pdf_url":"https://escholarship.org/content/qt6185f664/qt6185f664.pdf?t=qaar6y","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, vol 35, iss 1-3","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2232251213.pdf","grobid_xml":"https://content.openalex.org/works/W2232251213.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W34992941","https://openalex.org/W114421296","https://openalex.org/W116077224","https://openalex.org/W151959536","https://openalex.org/W1494582337","https://openalex.org/W1562003885","https://openalex.org/W1577509784","https://openalex.org/W1964502729","https://openalex.org/W1964882361","https://openalex.org/W1966628323","https://openalex.org/W1968315983","https://openalex.org/W2006912660","https://openalex.org/W2008572525","https://openalex.org/W2019385942","https://openalex.org/W2023716923","https://openalex.org/W2027419180","https://openalex.org/W2048605796","https://openalex.org/W2049207102","https://openalex.org/W2060772243","https://openalex.org/W2066705949","https://openalex.org/W2076322530","https://openalex.org/W2080126517","https://openalex.org/W2081247997","https://openalex.org/W2084119762","https://openalex.org/W2089513257","https://openalex.org/W2092760593","https://openalex.org/W2102621601","https://openalex.org/W2113719290","https://openalex.org/W2115286699","https://openalex.org/W2115579991","https://openalex.org/W2116191958","https://openalex.org/W2119493293","https://openalex.org/W2127021804","https://openalex.org/W2127142495","https://openalex.org/W2128921765","https://openalex.org/W2132395595","https://openalex.org/W2133538244","https://openalex.org/W2137052305","https://openalex.org/W2143799301","https://openalex.org/W2143928057","https://openalex.org/W2144824356","https://openalex.org/W2148876197","https://openalex.org/W2149900846","https://openalex.org/W2150252608","https://openalex.org/W2153054365","https://openalex.org/W2156950770","https://openalex.org/W2161611531","https://openalex.org/W2162731263","https://openalex.org/W2163800924","https://openalex.org/W2168356304","https://openalex.org/W2168676389","https://openalex.org/W2293098187","https://openalex.org/W2294305355","https://openalex.org/W2295221097","https://openalex.org/W2329985799","https://openalex.org/W2336416123","https://openalex.org/W2478708596","https://openalex.org/W2484797342","https://openalex.org/W2562755098","https://openalex.org/W2615497679","https://openalex.org/W2765017487","https://openalex.org/W3009115175","https://openalex.org/W3147673685","https://openalex.org/W3158027121","https://openalex.org/W4243285511","https://openalex.org/W4244635056","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W2970345194","https://openalex.org/W1969991288","https://openalex.org/W4200210047","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W2614963770","https://openalex.org/W2980469219","https://openalex.org/W287737911"],"abstract_inverted_index":{"Most":[0],"approaches":[1],"to":[2,23,75,117,129,145,155,177],"robot":[3,38],"localization":[4,78,149,166,185,206],"rely":[5],"on":[6,70,222],"low-level":[7],"geometric":[8,235],"features":[9],"such":[10],"as":[11],"points,":[12],"lines,":[13],"and":[14,31,57,67,100,110,181,196,221],"planes.":[15],"In":[16],"this":[17,139],"paper,":[18],"we":[19,86,161],"use":[20],"object":[21,52,202],"recognition":[22,53],"obtain":[24],"semantic":[25,49,77,94,148,165,208],"information":[26],"from":[27,207],"the":[28,33,37,65,68,71,76,82,93,119,123,130,147,156,163,170,179,184,217,223,232],"robot\u2019s":[29],"sensors":[30],"consider":[32],"task":[34],"of":[35,43,81,105,121,125,132,183,189],"localizing":[36],"within":[39],"a":[40,88,102,126,134,152,213],"prior":[41],"map":[42,72],"landmarks,":[44],"which":[45,91,169],"are":[46,229],"annotated":[47],"with":[48,151,231],"labels.":[50],"As":[51],"algorithms":[54],"miss":[55],"detections":[56,66],"produce":[58],"false":[59,108],"alarms,":[60,109],"correct":[61],"data":[62,111],"association":[63],"between":[64],"landmarks":[69],"is":[73,116,138,173,192,210],"central":[74],"problem.":[79],"Instead":[80],"traditional":[83,233],"vector-based":[84],"representation,":[85],"propose":[87],"sensor":[89],"model,":[90],"encodes":[92],"observations":[95,209],"via":[96],"random":[97],"finite":[98],"sets":[99],"enables":[101],"unified":[103],"treatment":[104],"missed":[106],"detections,":[107],"association.":[112],"Our":[113],"second":[114],"contribution":[115],"reduce":[118],"problem":[120,131,150],"computing":[122,133],"likelihood":[124],"set-valued":[127],"observation":[128],"matrix":[135],"permanent.":[136],"It":[137],"crucial":[140],"transformation":[141],"that":[142],"allows":[143],"us":[144],"solve":[146],"polynomial-time":[153],"approximation":[154],"set-based":[157],"Bayes":[158],"filter.":[159],"Finally,":[160],"address":[162],"active":[164],"problem,":[167],"in":[168,175,194,197],"observer\u2019s":[171],"trajectory":[172],"planned":[174],"order":[176],"improve":[178],"accuracy":[180],"efficiency":[182],"process.":[186],"The":[187],"performance":[188],"our":[190],"approach":[191],"demonstrated":[193,211],"simulation":[195],"real":[198],"environments":[199],"using":[200],"deformable-part-model-based":[201],"detectors.":[203],"Robust":[204],"global":[205],"for":[212,216],"mobile":[214],"robot,":[215],"Project":[218],"Tango":[219],"phone,":[220],"KITTI":[224],"visual":[225],"odometry":[226],"dataset.":[227],"Comparisons":[228],"made":[230],"lidar-based":[234],"Monte":[236],"Carlo":[237],"localization.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}