{"id":"https://openalex.org/W4376988911","doi":"https://doi.org/10.48550/arxiv.2305.09295","title":"Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans","display_name":"Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4376988911","doi":"https://doi.org/10.48550/arxiv.2305.09295"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.09295","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2305.09295","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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaheer, Muhammad","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030252996","display_name":"Jose Andres Millan-Romera","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Millan-Romera, Jose Andres","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010210818","display_name":"Hriday Bavle","orcid":"https://orcid.org/0000-0002-1732-0647"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bavle, Hriday","raw_affiliation_strings":[],"affiliations":[]},{"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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanchez-Lopez, Jose Luis","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077355742","display_name":"Javier Civera","orcid":"https://orcid.org/0000-0003-1368-1151"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Civera, Javier","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5049772606","display_name":"Holger Voos","orcid":"https://orcid.org/0000-0002-9600-8386"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Voos, Holger","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":69},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Simultaneous Localization and Mapping","score":0.9972,"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":"Simultaneous Localization and Mapping","score":0.9972,"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/T12784","display_name":"Self-Reconfigurable Robotic Systems and Modular Robotics","score":0.9789,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":"Sampling-Based Motion Planning Algorithms","score":0.9655,"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/localization","display_name":"Localization","score":0.560356},{"id":"https://openalex.org/keywords/graph-optimization","display_name":"Graph Optimization","score":0.551922},{"id":"https://openalex.org/keywords/real-time-planning","display_name":"Real-Time Planning","score":0.550771},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"Robot Navigation","score":0.550561},{"id":"https://openalex.org/keywords/path-planning","display_name":"Path Planning","score":0.512284},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.45427215}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.64356536},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6166171},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5649319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48887938},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.45427215},{"id":"https://openalex.org/C176225458","wikidata":"https://www.wikidata.org/wiki/Q595971","display_name":"Graph database","level":3,"score":0.42423052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37018004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36651024},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31964442},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16283739}],"mesh":[],"locations_count":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.09295","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.09295","pdf_url":"http://arxiv.org/pdf/2305.09295","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2305.09295","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.09295","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.81,"id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W48401697","https://openalex.org/W4386821976","https://openalex.org/W4380763496","https://openalex.org/W4313288997","https://openalex.org/W3115442681","https://openalex.org/W2970345194","https://openalex.org/W2807473852","https://openalex.org/W2391000461","https://openalex.org/W2152464524","https://openalex.org/W2149015029"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,70],"solution":[6],"for":[7],"graph-based":[8,130,138],"global":[9,131],"robot":[10,24,44,92,132],"simultaneous":[11],"localization":[12],"and":[13,53,85,110,115],"mapping":[14],"(SLAM)":[15],"using":[16],"architectural":[17,29,39,157],"plans.":[18],"Before":[19],"the":[20,23,26,32,43,73,91,107,137,142,148,152,156],"start":[21],"of":[22,31,72,78,141,151],"operation,":[25,47],"previously":[27],"available":[28],"plan":[30,158],"building":[33],"is":[34,103],"converted":[35],"into":[36,146],"our":[37,63,119],"proposed":[38],"graph":[40,65],"(A-Graph).":[41],"When":[42],"starts":[45],"its":[46,50],"it":[48,135,147],"uses":[49],"onboard":[51],"LIDAR":[52],"odometry":[54],"to":[55,105],"carry":[56],"out":[57],"an":[58],"online":[59],"SLAM":[60,139],"relying":[61],"on":[62],"situational":[64],"(S-Graph),":[66],"which":[67,112],"includes":[68],"both,":[69],"representation":[71],"environment":[74,153],"with":[75,94],"multiple":[76],"levels":[77],"abstractions,":[79],"such":[80],"as":[81,88,90],"walls":[82],"or":[83],"rooms,":[84],"their":[86,95],"relationships,":[87],"well":[89],"poses":[93],"associated":[96],"keyframes.":[97],"Our":[98,125],"novel":[99,120],"graph-to-graph":[100],"matching":[101],"method":[102],"used":[104],"relate":[106],"aforementioned":[108],"S-Graph":[109,143],"A-Graph,":[111],"are":[113],"aligned":[114],"merged,":[116],"resulting":[117],"in":[118,155],"informed":[121],"Situational":[122],"Graph":[123],"(iS-Graph).":[124],"iS-Graph":[126],"not":[127],"only":[128],"provides":[129],"localization,":[133],"but":[134],"extends":[136],"capabilities":[140],"by":[144],"incorporating":[145],"prior":[149],"knowledge":[150],"existing":[154]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4376988911","counts_by_year":[],"updated_date":"2024-11-21T18:01:47.883485","created_date":"2023-05-18"}