{"id":"https://openalex.org/W4367311297","doi":"https://doi.org/10.3390/robotics12030065","title":"Robot Localization Using Situational Graphs (S-Graphs) and Building Architectural Plans","display_name":"Robot Localization Using Situational Graphs (S-Graphs) and Building Architectural Plans","publication_year":2023,"publication_date":"2023-04-28","ids":{"openalex":"https://openalex.org/W4367311297","doi":"https://doi.org/10.3390/robotics12030065"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12030065","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030065","pdf_url":"https://www.mdpi.com/2218-6581/12/3/65/pdf?version=1683273100","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/3/65/pdf?version=1683273100","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001217473","display_name":"Muhammad Shaheer","orcid":"https://orcid.org/0009-0000-9923-5325"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Muhammad Shaheer","raw_affiliation_strings":["Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg"],"raw_orcid":"https://orcid.org/0009-0000-9923-5325","affiliations":[{"raw_affiliation_string":"Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010210818","display_name":"Hriday Bavle","orcid":"https://orcid.org/0000-0002-1732-0647"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Hriday Bavle","raw_affiliation_strings":["Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-1732-0647","affiliations":[{"raw_affiliation_string":"Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078546155","display_name":"Jos\u00e9 Luis S\u00e1nchez-L\u00f3pez","orcid":"https://orcid.org/0000-0001-5018-0925"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Jose Luis Sanchez-Lopez","raw_affiliation_strings":["Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0001-5018-0925","affiliations":[{"raw_affiliation_string":"Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049772606","display_name":"Holger Voos","orcid":"https://orcid.org/0000-0002-9600-8386"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4210134190","display_name":"Recherches Scientifiques Luxembourg","ror":"https://ror.org/0333e3w09","country_code":"LU","type":"facility","lineage":["https://openalex.org/I4210134190"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Holger Voos","raw_affiliation_strings":["Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg","Faculty of Science, Technology and Medicine, University of Luxembourg, 1359 Kirchberg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-9600-8386","affiliations":[{"raw_affiliation_string":"Automation & Robotics Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, 1359 Kirchberg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Faculty of Science, Technology and Medicine, University of Luxembourg, 1359 Kirchberg, Luxembourg","institution_ids":["https://openalex.org/I4210134190","https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001217473"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.4398,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91181253,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"12","issue":"3","first_page":"65","last_page":"65"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9872999787330627,"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/robot","display_name":"Robot","score":0.6677501201629639},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6571798920631409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5628920793533325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44046008586883545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4399719834327698},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.43044331669807434},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4280344843864441},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4153589606285095},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.41055986285209656},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3649698495864868},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.27805057168006897},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2503618597984314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1996634602546692}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6677501201629639},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6571798920631409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5628920793533325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44046008586883545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4399719834327698},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.43044331669807434},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4280344843864441},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4153589606285095},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.41055986285209656},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3649698495864868},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27805057168006897},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2503618597984314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1996634602546692},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics12030065","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030065","pdf_url":"https://www.mdpi.com/2218-6581/12/3/65/pdf?version=1683273100","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b5dd66883685489db70efc3a8eb94840","is_oa":true,"landing_page_url":"https://doaj.org/article/b5dd66883685489db70efc3a8eb94840","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 3, p 65 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/3/65/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12030065","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 3; Pages: 65","raw_type":"Text"},{"id":"pmh:oai:orbilu.uni.lu:10993/57350","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/57350","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, 12 (3), 65 (2023-04-28)","raw_type":"peer reviewed"}],"best_oa_location":{"id":"doi:10.3390/robotics12030065","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030065","pdf_url":"https://www.mdpi.com/2218-6581/12/3/65/pdf?version=1683273100","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.800000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4216414844","display_name":null,"funder_award_id":"C19/IS/13713801/5G-Sky","funder_id":"https://openalex.org/F4320321038","funder_display_name":"Fonds National de la Recherche Luxembourg"}],"funders":[{"id":"https://openalex.org/F4320310700","display_name":"Universit\u00e9 du Luxembourg","ror":"https://ror.org/036x5ad56"},{"id":"https://openalex.org/F4320321038","display_name":"Fonds National de la Recherche Luxembourg","ror":"https://ror.org/039z13y21"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4367311297.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1518703880","https://openalex.org/W1601378499","https://openalex.org/W1983043788","https://openalex.org/W2059068775","https://openalex.org/W2105977269","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2161709502","https://openalex.org/W2213518912","https://openalex.org/W2213585984","https://openalex.org/W2284029970","https://openalex.org/W2506082365","https://openalex.org/W2565998037","https://openalex.org/W2755517527","https://openalex.org/W2908603664","https://openalex.org/W2940793188","https://openalex.org/W2945292915","https://openalex.org/W2949822482","https://openalex.org/W2957348723","https://openalex.org/W2963024893","https://openalex.org/W2963256208","https://openalex.org/W2967353954","https://openalex.org/W2978091520","https://openalex.org/W3002581747","https://openalex.org/W3003612396","https://openalex.org/W3004165401","https://openalex.org/W3039925688","https://openalex.org/W3092669602","https://openalex.org/W3130684120","https://openalex.org/W3131010009","https://openalex.org/W3131682659","https://openalex.org/W3133050172","https://openalex.org/W3161560700","https://openalex.org/W3174270524","https://openalex.org/W3176428617","https://openalex.org/W3183042936","https://openalex.org/W3216622009","https://openalex.org/W4200075705","https://openalex.org/W4283332944","https://openalex.org/W4285058186","https://openalex.org/W4289755766","https://openalex.org/W4312449213","https://openalex.org/W6634739074","https://openalex.org/W6684321233","https://openalex.org/W6725058564","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"robot":[3,51,60],"localization":[4,116],"using":[5],"building":[6],"architectural":[7,23],"plans":[8,24],"and":[9,30,32,36,62,81,86,99],"hierarchical":[10],"SLAM.":[11],"We":[12,93],"extract":[13,67],"geometric,":[14,84],"semantic":[15],"as":[16,18],"well":[17],"topological":[19,35,87],"information":[20,88],"from":[21],"the":[22,26,34,40,47,50,54,59,76],"in":[25,46,53,97],"form":[27],"of":[28,39],"walls":[29],"rooms,":[31],"create":[33],"metric-semantic":[37],"layer":[38],"Situational":[41],"Graphs":[42],"(S-Graphs)":[43],"before":[44],"navigating":[45],"environment.":[48],"When":[49],"navigates":[52],"construction":[55,105],"environment,":[56],"it":[57,112],"uses":[58],"odometry":[61],"3D":[63],"lidar":[64],"measurements":[65],"to":[66,89],"planar":[68],"wall":[69],"surfaces.":[70],"A":[71],"particle":[72],"filter":[73],"method":[74],"exploits":[75],"previously":[77],"built":[78],"situational":[79],"graph":[80],"its":[82],"available":[83],"semantic,":[85],"perform":[90],"global":[91],"localization.":[92],"validate":[94],"our":[95],"approach":[96],"simulated":[98],"real":[100],"datasets":[101],"captured":[102],"on":[103],"ongoing":[104],"sites":[106],"presenting":[107],"state-of-the-art":[108],"results":[109],"when":[110],"comparing":[111],"against":[113],"traditional":[114],"geometry-based":[115],"techniques.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-01-23T23:20:30.427331","created_date":"2025-10-10T00:00:00"}
