{"id":"https://openalex.org/W4220980453","doi":"https://doi.org/10.3390/s22062387","title":"Object-Based Reliable Visual Navigation for Mobile Robot","display_name":"Object-Based Reliable Visual Navigation for Mobile Robot","publication_year":2022,"publication_date":"2022-03-20","ids":{"openalex":"https://openalex.org/W4220980453","doi":"https://doi.org/10.3390/s22062387","pmid":"https://pubmed.ncbi.nlm.nih.gov/35336558"},"language":"en","primary_location":{"id":"doi:10.3390/s22062387","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062387","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2387/pdf?version=1647854487","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/6/2387/pdf?version=1647854487","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012265341","display_name":"Fan Wang","orcid":"https://orcid.org/0000-0002-2954-1113"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Wang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230026, China"],"raw_orcid":"https://orcid.org/0000-0002-2954-1113","affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080698751","display_name":"Chaofan Zhang","orcid":"https://orcid.org/0000-0002-5306-2577"},"institutions":[{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chaofan Zhang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"],"raw_orcid":"https://orcid.org/0000-0002-5306-2577","affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100444344","display_name":"Wen Zhang","orcid":"https://orcid.org/0000-0001-6513-5932"},"institutions":[{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wen Zhang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055763899","display_name":"Cuiyun Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cuiyun Fang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065705407","display_name":"Yingwei Xia","orcid":null},"institutions":[{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingwei Xia","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659487","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0002-1862-3121"},"institutions":[{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008100738","display_name":"Hao Dong","orcid":"https://orcid.org/0000-0002-6556-059X"},"institutions":[{"id":"https://openalex.org/I2800556661","display_name":"China Tobacco","ror":"https://ror.org/030d08e08","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800556661"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Dong","raw_affiliation_strings":["China National Tobacco Quality Supervision Test Center, Zhengzhou 450001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China National Tobacco Quality Supervision Test Center, Zhengzhou 450001, China","institution_ids":["https://openalex.org/I2800556661"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5080698751","https://openalex.org/A5100444344"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.2513,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.89211532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"22","issue":"6","first_page":"2387","last_page":"2387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9961000084877014,"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":0.6671605706214905},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5300036668777466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5173653960227966},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5029863715171814},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48243531584739685},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47361016273498535},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.442375123500824},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.43370574712753296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39276209473609924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09471097588539124}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6671605706214905},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5300036668777466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5173653960227966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5029863715171814},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48243531584739685},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47361016273498535},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.442375123500824},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.43370574712753296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39276209473609924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09471097588539124},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22062387","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062387","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2387/pdf?version=1647854487","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:35336558","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35336558","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:8f6187232ccc4dffac002ef02b843566","is_oa":true,"landing_page_url":"https://doaj.org/article/8f6187232ccc4dffac002ef02b843566","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 6, p 2387 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/6/2387/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22062387","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":"Sensors; Volume 22; Issue 6; Pages: 2387","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8949785","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8949785","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22062387","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062387","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2387/pdf?version=1647854487","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4220980453.pdf"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1591449811","https://openalex.org/W1923184257","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W1996183429","https://openalex.org/W2017968149","https://openalex.org/W2055201760","https://openalex.org/W2076200020","https://openalex.org/W2091286372","https://openalex.org/W2097696373","https://openalex.org/W2099144379","https://openalex.org/W2099893201","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2130660124","https://openalex.org/W2136957179","https://openalex.org/W2141664020","https://openalex.org/W2142362566","https://openalex.org/W2161579040","https://openalex.org/W2162991084","https://openalex.org/W2169528473","https://openalex.org/W2461937780","https://openalex.org/W2510352861","https://openalex.org/W2557741120","https://openalex.org/W2594519801","https://openalex.org/W2770135404","https://openalex.org/W2777057360","https://openalex.org/W2795158114","https://openalex.org/W2891491652","https://openalex.org/W2900601731","https://openalex.org/W2938672559","https://openalex.org/W2945292915","https://openalex.org/W2953127211","https://openalex.org/W2957214492","https://openalex.org/W2979912832","https://openalex.org/W3003409632","https://openalex.org/W3006182492","https://openalex.org/W3035076408","https://openalex.org/W3039448353","https://openalex.org/W3043971245","https://openalex.org/W3092403966","https://openalex.org/W3098467253","https://openalex.org/W3117040724","https://openalex.org/W3124420883","https://openalex.org/W3159537771","https://openalex.org/W3185918112","https://openalex.org/W3187115527","https://openalex.org/W3199420789","https://openalex.org/W3213724533","https://openalex.org/W3217170181","https://openalex.org/W4206511844","https://openalex.org/W4214586403","https://openalex.org/W4225988094","https://openalex.org/W6730308440","https://openalex.org/W6778299498"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W4297427155"],"abstract_inverted_index":{"Visual":[0],"navigation":[1,16,52,191],"is":[2,61,86,121,153],"of":[3,39,132,176],"vital":[4],"importance":[5],"for":[6],"autonomous":[7],"mobile":[8],"robots.":[9],"Most":[10],"existing":[11],"practical":[12],"perception-aware":[13],"based":[14],"visual":[15,40,51,134],"methods":[17,26],"generally":[18],"require":[19],"prior-constructed":[20],"precise":[21,69],"metric":[22,70],"maps,":[23],"and":[24,83,106,136,174,182,195],"learning-based":[25],"rely":[27],"on":[28,67,129,179],"large":[29],"training":[30],"to":[31,63,97,110,123,140],"improve":[32,36],"their":[33],"generality.":[34],"To":[35],"the":[37,65,68,73,99,104,112,125,130,172,204],"reliability":[38],"navigation,":[41],"in":[42],"this":[43],"paper,":[44],"we":[45,89],"propose":[46,90],"a":[47,55,116,146,160],"novel":[48],"object-level":[49,57],"topological":[50,58,84,101,127],"method.":[53],"Firstly,":[54],"lightweight":[56],"semantic":[59,74],"map":[60],"constructed":[62],"release":[64],"dependence":[66],"map,":[71],"where":[72],"associations":[75],"between":[76],"objects":[77],"are":[78],"stored":[79],"via":[80],"graph":[81,94],"memory":[82],"organization":[85],"performed.":[87],"Then,":[88],"an":[91],"object-based":[92],"heuristic":[93],"search":[95],"method":[96,152,178,187],"select":[98],"global":[100,113,117,126],"path":[102,118,128,200],"with":[103],"optimal":[105],"shortest":[107],"characteristics.":[108],"Furthermore,":[109],"reduce":[111],"cumulative":[114],"error,":[115],"segmentation":[119],"strategy":[120],"proposed":[122,154,186],"divide":[124],"basis":[131],"active":[133],"perception":[135],"object":[137],"guidance.":[138],"Finally,":[139],"achieve":[141],"adaptive":[142],"smooth":[143,149,165],"trajectory":[144,150,157],"generation,":[145],"Bernstein":[147],"polynomial-based":[148],"refinement":[151],"by":[155,198],"transforming":[156],"generation":[158],"into":[159],"nonlinear":[161],"planning":[162],"problem,":[163],"achieving":[164],"multi-segment":[166],"continuous":[167],"navigation.":[168],"Experimental":[169],"results":[170],"demonstrate":[171],"feasibility":[173],"efficiency":[175],"our":[177],"both":[180],"simulation":[181],"real-world":[183],"scenarios.":[184],"The":[185],"also":[188],"obtains":[189],"better":[190],"success":[192,196],"rate":[193],"(SR)":[194],"weighted":[197],"inverse":[199],"length":[201],"(SPL)":[202],"than":[203],"state-of-the-art":[205],"methods.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
