{"id":"https://openalex.org/W1579868119","doi":"https://doi.org/10.3233/978-1-60750-061-2-55","title":"Appearance-Based SLAM for Mobile Robots","display_name":"Appearance-Based SLAM for Mobile Robots","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W1579868119","doi":"https://doi.org/10.3233/978-1-60750-061-2-55","mag":"1579868119"},"language":"en","primary_location":{"id":"doi:10.3233/978-1-60750-061-2-55","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-60750-061-2-55","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","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":null,"display_name":"Bacca Bladimir","orcid":null},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]},{"id":"https://openalex.org/I91732220","display_name":"Universidad del Valle","ror":"https://ror.org/00jb9vg53","country_code":"CO","type":"education","lineage":["https://openalex.org/I91732220"]}],"countries":["CO","ES"],"is_corresponding":true,"raw_author_name":"Bacca Bladimir","raw_affiliation_strings":["University of Valle, Cali, Colombia and University of Girona, Girona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Valle, Cali, Colombia and University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209","https://openalex.org/I91732220"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Salvi Joaqu&iacute;m","orcid":null},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Salvi Joaqu&iacute;m","raw_affiliation_strings":["[University of Girona, Girona, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[University of Girona, Girona, Spain]","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":null,"display_name":"Cuf&iacute; Xavier","orcid":null},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cuf&iacute; Xavier","raw_affiliation_strings":["[University of Girona, Girona, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[University of Girona, Girona, Spain]","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I251424209","https://openalex.org/I91732220"],"apc_list":null,"apc_paid":null,"fwci":26.1387,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9917215,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"55","last_page":"64"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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":0.9983999729156494,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9886999726295471,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6327241659164429},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.536880373954773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5172232389450073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4917064309120178},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48663052916526794},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37458986043930054}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6327241659164429},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536880373954773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5172232389450073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4917064309120178},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48663052916526794},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37458986043930054}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3233/978-1-60750-061-2-55","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-60750-061-2-55","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},{"id":"mag:1579868119","is_oa":false,"landing_page_url":"http://eia.udg.edu/~qsalvi/papers/2009-CCIA.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306418022","display_name":"Conference on Artificial Intelligence Research and Development","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Conference on Artificial Intelligence Research and Development","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W164400977","https://openalex.org/W212919687","https://openalex.org/W1500155850","https://openalex.org/W1516919618","https://openalex.org/W1534710825","https://openalex.org/W1575185299","https://openalex.org/W1577021328","https://openalex.org/W1667179984","https://openalex.org/W1878893887","https://openalex.org/W1964502729","https://openalex.org/W1988036190","https://openalex.org/W2019854335","https://openalex.org/W2029143333","https://openalex.org/W2032185879","https://openalex.org/W2097528839","https://openalex.org/W2105224953","https://openalex.org/W2110968744","https://openalex.org/W2113755077","https://openalex.org/W2115990511","https://openalex.org/W2116672260","https://openalex.org/W2117942211","https://openalex.org/W2119982708","https://openalex.org/W2120353515","https://openalex.org/W2127578024","https://openalex.org/W2131163404","https://openalex.org/W2133759223","https://openalex.org/W2133901365","https://openalex.org/W2138252993","https://openalex.org/W2141139095","https://openalex.org/W2142879048","https://openalex.org/W2147708805","https://openalex.org/W2160888640","https://openalex.org/W2297172695"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"reviews":[2],"new":[3,12],"challenges":[4],"in":[5],"the":[6,43,78,113],"area":[7],"of":[8,20,28,116],"long-term":[9],"navigation,":[10],"and":[11,17,37,60,88,100,109],"approaches":[13],"to":[14,69,73,92,124],"environment":[15,45,52],"representation":[16],"robots":[18],"capable":[19],"coping":[21],"with":[22,56],"dynamic":[23],"environments.":[24],"As":[25],"a":[26,71],"result":[27],"this":[29],"review,":[30],"we":[31,118],"propose":[32],"an":[33,47],"appearancebased":[34],"simultaneous":[35],"localization":[36],"mapping":[38],"(SLAM)":[39],"solution":[40],"which":[41],"represents":[42],"robot":[44,81,110],"using":[46,57],"appearance-based":[48],"topological":[49],"map.":[50],"Dynamic":[51],"changes":[53],"are":[54],"dealt":[55],"human":[58],"memory":[59],"fixed":[61],"action":[62],"pattern":[63],"concepts.":[64],"The":[65],"former":[66],"is":[67],"used":[68],"build":[70],"histogram":[72],"register":[74],"local":[75,104],"feature":[76],"stability,":[77],"latter":[79],"for":[80,106],"navigation":[82],"purposes.":[83],"We":[84],"take":[85],"omnidirectional":[86],"vision":[87],"laser":[89],"range":[90],"data":[91],"extract":[93],"textured":[94],"2D":[95],"scans":[96],"as":[97,103],"global":[98],"features,":[99],"textured-vertical":[101],"edges":[102],"features":[105],"map":[107],"updating":[108],"localization.":[111],"From":[112],"navigational":[114],"point":[115],"view,":[117],"consider":[119],"visual":[120],"potential":[121],"field-based":[122],"behavior":[123],"adjust":[125],"high":[126],"level":[127],"motion":[128],"commands.":[129]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}
