{"id":"https://openalex.org/W2120604281","doi":"https://doi.org/10.3233/978-1-60750-643-0-291","title":"Mapping and Localization for Mobile Robots through Environment Appearance Update","display_name":"Mapping and Localization for Mobile Robots through Environment Appearance Update","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2120604281","doi":"https://doi.org/10.3233/978-1-60750-643-0-291","mag":"2120604281"},"language":"en","primary_location":{"id":"doi:10.3233/978-1-60750-643-0-291","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-60750-643-0-291","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":["Universitat de Girona, Girona, Catalunya, Spain and Universidad del Valle, Cali, Colombia#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat de Girona, Girona, Catalunya, Spain and Universidad del Valle, Cali, Colombia#TAB#","institution_ids":["https://openalex.org/I251424209","https://openalex.org/I91732220"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Salví Joaquím","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":"Salví Joaquím","raw_affiliation_strings":["Universitat de Girona, Girona, Catalunya, Spain#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat de Girona, Girona, Catalunya, Spain#TAB#","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":null,"display_name":"Cufí 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":"Cufí Xavier","raw_affiliation_strings":["Universitat de Girona, Girona, Catalunya, Spain#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat de Girona, Girona, Catalunya, Spain#TAB#","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":6.1483,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96641358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"291","last_page":"300"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9966999888420105,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5850955843925476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.552643895149231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5158747434616089},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4685320258140564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44818544387817383},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3939060568809509}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5850955843925476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552643895149231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5158747434616089},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4685320258140564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44818544387817383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3939060568809509}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3233/978-1-60750-643-0-291","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-60750-643-0-291","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:2120604281","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"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":23,"referenced_works":["https://openalex.org/W1500155850","https://openalex.org/W1575185299","https://openalex.org/W1579868119","https://openalex.org/W1878893887","https://openalex.org/W1964502729","https://openalex.org/W1988036190","https://openalex.org/W2006955960","https://openalex.org/W2018934657","https://openalex.org/W2096901547","https://openalex.org/W2097528839","https://openalex.org/W2099964852","https://openalex.org/W2105224953","https://openalex.org/W2115990511","https://openalex.org/W2119982708","https://openalex.org/W2127578024","https://openalex.org/W2131163404","https://openalex.org/W2131497551","https://openalex.org/W2132653682","https://openalex.org/W2133759223","https://openalex.org/W2133901365","https://openalex.org/W2141139095","https://openalex.org/W2151103935","https://openalex.org/W2336416123"],"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":{"The":[0],"strength":[1],"of":[2,126],"appearance-based":[3,53],"mapping":[4,26,54,101],"models":[5,30],"lies":[6],"in":[7,77],"their":[8],"ability":[9],"to":[10,67,135,143],"represent":[11],"the":[12,60,78,137],"environment":[13],"through":[14,90,113,141],"high-level":[15],"image":[16],"features;":[17],"and":[18,25,46,55,94,102,121,128,146],"provide":[19],"humanreadable":[20],"information.":[21],"However,":[22],"developing":[23],"localization":[24,56],"methods":[27],"with":[28,40],"these":[29,82],"could":[31],"be":[32],"very":[33],"challenging,":[34],"especially":[35],"if":[36],"robots":[37],"must":[38],"deal":[39],"long-term":[41,114],"mapping,":[42],"localization,":[43],"navigation,":[44],"occlusions,":[45,123],"dynamic":[47],"environments.":[48],"This":[49,131],"paper":[50],"proposes":[51],"an":[52],"method":[57,132],"based":[58],"on":[59],"human":[61],"memory":[62],"model,":[63],"which":[64],"is":[65,133],"used":[66],"build":[68],"a":[69,91],"Feature":[70],"Stability":[71],"Histogram":[72],"(FSH)":[73],"at":[74],"each":[75],"node":[76],"robot":[79,148],"topological":[80],"map,":[81],"FSH":[83],"register":[84],"local":[85,147],"feature":[86],"stability":[87],"over":[88],"time":[89,120,142],"voting":[92],"scheme,":[93],"most":[95],"stable":[96],"features":[97],"are":[98,107],"considered":[99],"for":[100],"Bayesian":[103],"localization.":[104,149],"Experimental":[105],"results":[106],"presented":[108],"using":[109],"omnidirectional":[110],"images":[111],"acquired":[112],"acquisition":[115],"considering:":[116],"illumination":[117],"changes":[118],"(day":[119],"seasons),":[122],"random":[124],"removal":[125],"features,":[127],"perceptual":[129],"aliasing.":[130],"able":[134],"adapt":[136],"internal":[138],"node's":[139],"representation":[140],"achieve":[144],"global":[145]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}