{"id":"https://openalex.org/W2808517719","doi":"https://doi.org/10.3233/jifs-169656","title":"Efficient construction of topological semantic map with 3D information","display_name":"Efficient construction of topological semantic map with 3D information","publication_year":2018,"publication_date":"2018-06-14","ids":{"openalex":"https://openalex.org/W2808517719","doi":"https://doi.org/10.3233/jifs-169656","mag":"2808517719"},"language":"en","primary_location":{"id":"doi:10.3233/jifs-169656","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-169656","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","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/A5100395977","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-1265-0233"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705358","display_name":"Jun Cheng","orcid":"https://orcid.org/0000-0002-3131-3275"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Jun Cheng","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052037779","display_name":"Wei Feng","orcid":"https://orcid.org/0000-0002-9845-999X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Wei Feng","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101705358"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I19820366","https://openalex.org/I4210145761","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":4.1198,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9562563,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"3","first_page":"3011","last_page":"3020"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.7321759462356567},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6686140298843384},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6264051795005798},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6017789244651794},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5796878337860107},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5764574408531189},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5506200790405273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4999713897705078},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4245438575744629},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.413853257894516},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.39472147822380066},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20609819889068604},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1359565258026123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1216937005519867},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09737825393676758}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7321759462356567},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6686140298843384},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6264051795005798},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6017789244651794},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5796878337860107},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5764574408531189},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5506200790405273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4999713897705078},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4245438575744629},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.413853257894516},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.39472147822380066},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20609819889068604},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1359565258026123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1216937005519867},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09737825393676758},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/jifs-169656","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-169656","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W764651262","https://openalex.org/W1552030383","https://openalex.org/W1612997784","https://openalex.org/W1686810756","https://openalex.org/W2013552745","https://openalex.org/W2073660060","https://openalex.org/W2110811457","https://openalex.org/W2117892041","https://openalex.org/W2128237624","https://openalex.org/W2135385493","https://openalex.org/W2157357676","https://openalex.org/W2183182206","https://openalex.org/W2216949779","https://openalex.org/W2265661972","https://openalex.org/W2284029970","https://openalex.org/W2400202024","https://openalex.org/W2402652555","https://openalex.org/W2523049145","https://openalex.org/W2555771853","https://openalex.org/W2562913593","https://openalex.org/W2791791089","https://openalex.org/W2951309005","https://openalex.org/W3103648783"],"related_works":["https://openalex.org/W4388904787","https://openalex.org/W1994199712","https://openalex.org/W4376312333","https://openalex.org/W3207305163","https://openalex.org/W4310350393","https://openalex.org/W4312359951","https://openalex.org/W2768317343","https://openalex.org/W2885114424","https://openalex.org/W2033554277","https://openalex.org/W1501815678"],"abstract_inverted_index":{"Path":[0],"planning":[1],"for":[2,51],"human":[3,39],"beings":[4],"is":[5,31,82,111],"based":[6],"on":[7],"scene":[8,65],"understanding":[9],"and":[10,100],"semantic":[11,53,60,66,102,119],"map":[12,21,61,96,110],"as":[13,15],"well":[14],"geometry":[16],"features.":[17],"The":[18,91],"point":[19],"cloud":[20],"can":[22],"help":[23],"robots":[24],"to":[25,46,113],"perform":[26],"path":[27],"planning.":[28],"However,":[29],"it":[30],"quite":[32],"different":[33],"from":[34],"the":[35,80,94,101,105,108,124,127],"natural":[36],"way":[37],"of":[38,79,104,126],"beings.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44,56],"propose":[45],"construct":[47,57],"a":[48,58,74,116],"novel":[49],"framework":[50],"topological":[52,109],"map.":[54,120],"Specifically,":[55],"2D":[59,75,95],"by":[62,69,84],"projecting":[63],"3D":[64,77,87],"information":[67],"recognized":[68,98],"convolutional":[70],"neural":[71],"network":[72],"onto":[73],"plane.":[76],"reconstruction":[78],"environment":[81],"achieved":[83],"RGB-D":[85],"SLAM":[86],"space":[88],"mapping":[89],"algorithm.":[90],"intersections":[92],"in":[93,107],"are":[97],"offline,":[99],"annotation":[103],"intersection":[106],"utilized":[112],"build":[114],"up":[115],"complete":[117],"object-based":[118],"Experimental":[121],"results":[122],"demonstrate":[123],"feasibility":[125],"proposed":[128],"approach.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}