乐胖代购免代理版

{"id":"https://openalex.org/W2133845215","doi":"https://doi.org/10.1109/iros.2008.4650666","title":"Building local metrical and global topological maps using efficient scan matching approaches","display_name":"Building local metrical and global topological maps using efficient scan matching approaches","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2133845215","doi":"https://doi.org/10.1109/iros.2008.4650666","mag":"2133845215"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650666","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041651074","display_name":"Ren\u00e9 Iser","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Iser","raw_affiliation_strings":["Inst. for Robot. & Process Control, Tech. Univ. of Braunschweig, Braunschweig"],"affiliations":[{"raw_affiliation_string":"Inst. for Robot. & Process Control, Tech. Univ. of Braunschweig, Braunschweig","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F.M. Wahl","raw_affiliation_strings":["Inst. for Robot. & Process Control, Tech. Univ. of Braunschweig, Braunschweig"],"affiliations":[{"raw_affiliation_string":"Inst. for Robot. & Process Control, Tech. Univ. of Braunschweig, Braunschweig","institution_ids":["https://openalex.org/I94509681"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.113,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":6,"citation_normalized_percentile":{"value":0.635098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":80,"max":81},"biblio":{"volume":null,"issue":null,"first_page":"1023","last_page":"1030"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995,"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":0.9995,"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":0.9968,"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/T12288","display_name":"Optimization and Search Problems","score":0.994,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/ransac","display_name":"RANSAC","score":0.6339194}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.64555645},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.6339194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49993372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4992981},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4596244},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4457524},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.42499942},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.42283836},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.41810167},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39698923},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36869445},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3533463},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31695122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3012454},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2488808},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650666","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":24,"referenced_works":["https://openalex.org/W106911031","https://openalex.org/W1494141623","https://openalex.org/W1505889606","https://openalex.org/W1516660548","https://openalex.org/W1518703880","https://openalex.org/W1611476298","https://openalex.org/W1974475284","https://openalex.org/W2030021468","https://openalex.org/W2045546253","https://openalex.org/W2047328415","https://openalex.org/W2077550329","https://openalex.org/W2085261163","https://openalex.org/W2103393159","https://openalex.org/W2112793821","https://openalex.org/W2115990511","https://openalex.org/W2116113034","https://openalex.org/W2120353515","https://openalex.org/W2129443614","https://openalex.org/W2130422193","https://openalex.org/W2144652450","https://openalex.org/W2147915785","https://openalex.org/W2148228392","https://openalex.org/W2148500748","https://openalex.org/W2161808137"],"related_works":["https://openalex.org/W3107042705","https://openalex.org/W3083084699","https://openalex.org/W3012182724","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W2131378265","https://openalex.org/W2115876589","https://openalex.org/W2091943821","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"This":[0,114],"paper":[1,64],"describes":[2],"a":[3,30,40,45,54,76,89,96,159],"new":[4],"solution":[5],"of":[6,15,32,62,78,81,100,119,146],"the":[7,23,79,82,85,101,111,117,120,139,144,147,152],"simultaneous":[8],"localization":[9],"and":[10,36,173],"mapping":[11],"(SLAM)":[12],"problem.":[13],"Instead":[14],"building":[16],"one":[17],"global":[18,55],"consistent":[19],"map,":[20],"aimed":[21],"by":[22,110],"most":[24],"common":[25],"SLAM":[26],"techniques,":[27],"we":[28,94],"compute":[29,138],"set":[31],"local":[33,140],"metrical":[34,56],"maps":[35],"fuse":[37],"them":[38],"to":[39,137,157],"graph-like":[41],"structure":[42],"resulting":[43],"in":[44,155],"topological":[46,86],"map.":[47],"Thus,":[48],"our":[49],"approach":[50,169],"does":[51],"not":[52],"require":[53],"map":[57,87],"consistency.":[58],"The":[59],"main":[60],"contribution":[61],"this":[63,92],"is":[65,126,135,165],"an":[66],"algorithm":[67],"for":[68,105],"closing":[69,73,164],"spatial":[70],"loops.":[71],"Loop":[72],"means,":[74],"that":[75],"subset":[77],"edges":[80],"graph":[83],"representing":[84],"forms":[88],"cycle.":[90],"To":[91],"end":[93],"describe":[95],"very":[97,166],"efficient":[98],"enhancement":[99],"well-known":[102],"RANSAC":[103],"technique":[104],"actively":[106],"recognizing":[107],"regions":[108],"explored":[109],"robot":[112,149],"previously.":[113],"improvement":[115],"exploits":[116],"theory":[118],"birthday":[121],"attack":[122],"whose":[123],"mathematical":[124],"background":[125],"known":[127],"from":[128,151],"cryptography.":[129],"A":[130],"fast":[131],"sample-based":[132],"scan":[133],"matcher":[134],"employed":[136],"maps.":[141],"We":[142],"derive":[143],"covariance":[145],"current":[148],"pose":[150],"sample":[153],"distribution":[154],"order":[156],"perform":[158],"recognition":[160],"only":[161],"when":[162],"loop":[163],"likely.":[167],"Our":[168],"has":[170],"been":[171],"implemented":[172],"experimental":[174],"results":[175],"show":[176],"its":[177],"excellent":[178],"performance.":[179]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2133845215","counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2024-12-09T04:48:55.166525","created_date":"2016-06-24"}