乐胖代购免代理版

{"id":"https://openalex.org/W4383101282","doi":"https://doi.org/10.1109/icra48891.2023.10160381","title":"Lighthouses and Global Graph Stabilization: Active SLAM for Low-compute, Narrow-FoV Robots","display_name":"Lighthouses and Global Graph Stabilization: Active SLAM for Low-compute, Narrow-FoV Robots","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383101282","doi":"https://doi.org/10.1109/icra48891.2023.10160381"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2306.10463","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109620159","display_name":"Mohit Deshpande","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohit Deshpande","raw_affiliation_strings":["Amazon Lab126"],"affiliations":[{"raw_affiliation_string":"Amazon Lab126","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104094020","display_name":"Richard Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Kim","raw_affiliation_strings":["Amazon Lab126"],"affiliations":[{"raw_affiliation_string":"Amazon Lab126","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112942731","display_name":"Dhruva Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruva Kumar","raw_affiliation_strings":["Amazon Lab126"],"affiliations":[{"raw_affiliation_string":"Amazon Lab126","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101699370","display_name":"Jong Jin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jong Jin Park","raw_affiliation_strings":["Amazon Lab126"],"affiliations":[{"raw_affiliation_string":"Amazon Lab126","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016339963","display_name":"Jim Zamiska","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jim Zamiska","raw_affiliation_strings":["Amazon Lab126"],"affiliations":[{"raw_affiliation_string":"Amazon Lab126","institution_ids":["https://openalex.org/I1311688040"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.79,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.459655,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":78,"max":84},"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":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9997,"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":0.9957,"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/drone","display_name":"Drone","score":0.51163584},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5063139}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.824054},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8063694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.72328347},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.68625075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63767445},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5835506},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5786549},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.51163584},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5063139},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.417422},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39172676},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.10463","pdf_url":"http://arxiv.org/pdf/2306.10463","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.10463","pdf_url":"http://arxiv.org/pdf/2306.10463","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":30,"referenced_works":["https://openalex.org/W1483002447","https://openalex.org/W1535712569","https://openalex.org/W2075967785","https://openalex.org/W2080823437","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2115082865","https://openalex.org/W2121734178","https://openalex.org/W2153504150","https://openalex.org/W2169781427","https://openalex.org/W2172011507","https://openalex.org/W2409009991","https://openalex.org/W2563670399","https://openalex.org/W2746349752","https://openalex.org/W2772189859","https://openalex.org/W2796447411","https://openalex.org/W2798513908","https://openalex.org/W2955948982","https://openalex.org/W2968284168","https://openalex.org/W2997494682","https://openalex.org/W3003718768","https://openalex.org/W3089355831","https://openalex.org/W3090077032","https://openalex.org/W3090360675","https://openalex.org/W3095315965","https://openalex.org/W3110447301","https://openalex.org/W3131942348","https://openalex.org/W4220974923","https://openalex.org/W4309489912","https://openalex.org/W4327662982"],"related_works":["https://openalex.org/W3112995165","https://openalex.org/W2944187815","https://openalex.org/W2379763979","https://openalex.org/W2163016745","https://openalex.org/W2112986586","https://openalex.org/W2073514935","https://openalex.org/W2012910072","https://openalex.org/W2012743301","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,114,117],"to":[2,40,88],"build":[3],"a":[4,11,31],"map":[5,20,94],"of":[6,18,25,75,92],"an":[7],"unknown":[8],"environment":[9],"is":[10],"fundamental":[12],"robotics":[13],"problem.":[14],"However,":[15],"the":[16,19,23,73,90,93,101],"quality":[17,24],"directly":[21],"influences":[22],"subsequent":[26,44],"robot":[27],"operation.":[28],"Instability":[29],"in":[30,55,96],"simultaneous":[32],"localization":[33],"and":[34,43,61,99,119],"mapping":[35],"(SLAM)":[36],"system":[37],"can":[38,85],"lead":[39],"poor-quality":[41],"maps":[42],"navigation":[45],"failures":[46],"during":[47],"or":[48],"after":[49],"exploration.":[50],"This":[51],"becomes":[52],"particularly":[53],"noticeable":[54],"consumer":[56],"robotics,":[57],"where":[58],"compute":[59],"budget":[60],"limited":[62],"field-of-view":[63],"are":[64],"very":[65],"common.":[66],"In":[67],"this":[68],"work,":[69],"we":[70],"propose":[71],"(i)":[72],"concept":[74],"lighthouses:":[76],"panoramic":[77],"views":[78],"with":[79],"high":[80],"visual":[81],"information":[82],"content":[83],"that":[84],"be":[86],"used":[87],"maintain":[89],"stability":[91],"locally":[95],"their":[97],"neighborhoods":[98],"(ii)":[100],"final":[102],"stabilization":[103],"strategy":[104,115],"for":[105],"global":[106],"pose":[107],"graph":[108],"stabilization.":[109],"We":[110],"call":[111],"our":[112],"novel":[113],"SLAM-aware":[116],"(SAE)":[118],"evaluate":[120],"its":[121],"performance":[122],"on":[123],"real-world":[124],"home":[125],"environments.":[126]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4383101282","counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-01-20T06:33:27.879211","created_date":"2023-07-05"}