Hierarchical Probabilistic Fusion Framework for Matching and Merging of 3-D Occupancy Maps Article Swipe
Yufeng Yue
,
P.G.C.N. Senarathne
,
Chule Yang
,
Jun Zhang
,
Mingxing Wen
,
Danwei Wang
·
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.1109/jsen.2018.2867854
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.1109/jsen.2018.2867854
Fusing 3-D maps generated by multiple robots in real/semi-real time distributed mapping systems are addressed in this paper. A 3-D occupancy grid-based approach for mapping is utilized to satisfy the real/semi-real time and distributed operating constraints. This paper proposes a novel hierarchical probabilistic fusion framework, which consists of uncertainty modeling, map matching, transformation evaluation, and map merging. Before the fusion of maps, the map features and their uncertainties are explicitly modeled and integrated. For map matching, a two-level probabilistic map matching (PMM) algorithm is developed to include high-level structural and low-level voxel features. In the PMM, the structural uncertainty is first used to generate a coarse matching between the maps and its result is then used to improve the voxel level map matching, resulting in a more efficient and accurate matching between maps with a larger convergence basin. The relative transformation output from PMM algorithm is then evaluated based on the Mahalanobis distance, and the relative entropy filter is used subsequently to integrate the map dissimilarities more accurately, completing the map fusion process. The proposed approach is evaluated using map data collected from both simulated and real environments, and the results validate the accuracy, efficiency, and the support for larger convergence basin of the proposed 3-D occupancy map fusion framework.
Related Topics
Concepts
Occupancy grid mapping
Probabilistic logic
Computer science
Simultaneous localization and mapping
Transformation (genetics)
Matching (statistics)
Sensor fusion
Grid reference
Artificial intelligence
Map matching
Fusion
Data mining
Mathematics
Mobile robot
Robot
Philosophy
Telecommunications
Chemistry
Statistics
Biochemistry
Linguistics
Gene
Global Positioning System
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/jsen.2018.2867854
- OA Status
- green
- Cited By
- 44
- References
- 52
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2888880178
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2888880178Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/jsen.2018.2867854Digital Object Identifier
- Title
-
Hierarchical Probabilistic Fusion Framework for Matching and Merging of 3-D Occupancy MapsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2018Year of publication
- Publication date
-
2018-08-30Full publication date if available
- Authors
-
Yufeng Yue, P.G.C.N. Senarathne, Chule Yang, Jun Zhang, Mingxing Wen, Danwei WangList of authors in order
- Landing page
-
https://doi.org/10.1109/jsen.2018.2867854Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://dr.ntu.edu.sg/bitstream/10356/106304/1/2.2018-Ieee_sensor.pdfDirect OA link when available
- Concepts
-
Occupancy grid mapping, Probabilistic logic, Computer science, Simultaneous localization and mapping, Transformation (genetics), Matching (statistics), Sensor fusion, Grid reference, Artificial intelligence, Map matching, Fusion, Data mining, Mathematics, Mobile robot, Robot, Philosophy, Telecommunications, Chemistry, Statistics, Biochemistry, Linguistics, Gene, Global Positioning SystemTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
44Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 4, 2023: 5, 2022: 4, 2021: 1Per-year citation counts (last 5 years)
- References (count)
-
52Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W2888880178 |
|---|---|
| doi | https://doi.org/10.1109/jsen.2018.2867854 |
| ids.doi | https://doi.org/10.1109/jsen.2018.2867854 |
| ids.mag | 2888880178 |
| ids.openalex | https://openalex.org/W2888880178 |
| fwci | 11.24825433 |
| type | article |
| title | Hierarchical Probabilistic Fusion Framework for Matching and Merging of 3-D Occupancy Maps |
| biblio.issue | 21 |
| biblio.volume | 18 |
| biblio.last_page | 8949 |
| biblio.first_page | 8933 |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9998999834060669 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T10586 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9939000010490417 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Robotic Path Planning Algorithms |
| topics[2].id | https://openalex.org/T13282 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9901999831199646 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2212 |
| topics[2].subfield.display_name | Ocean Engineering |
| topics[2].display_name | Automated Road and Building Extraction |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C57077369 |
| concepts[0].level | 4 |
| concepts[0].score | 0.7080790996551514 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q7075747 |
| concepts[0].display_name | Occupancy grid mapping |
| concepts[1].id | https://openalex.org/C49937458 |
| concepts[1].level | 2 |
| concepts[1].score | 0.6713575720787048 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q2599292 |
| concepts[1].display_name | Probabilistic logic |
| concepts[2].id | https://openalex.org/C41008148 |
| concepts[2].level | 0 |
| concepts[2].score | 0.5887776017189026 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[2].display_name | Computer science |
| concepts[3].id | https://openalex.org/C86369673 |
| concepts[3].level | 4 |
| concepts[3].score | 0.5395547151565552 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q1203659 |
| concepts[3].display_name | Simultaneous localization and mapping |
| concepts[4].id | https://openalex.org/C204241405 |
| concepts[4].level | 3 |
| concepts[4].score | 0.5284668803215027 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q461499 |
| concepts[4].display_name | Transformation (genetics) |
| concepts[5].id | https://openalex.org/C165064840 |
| concepts[5].level | 2 |
| concepts[5].score | 0.513235330581665 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q1321061 |
| concepts[5].display_name | Matching (statistics) |
| concepts[6].id | https://openalex.org/C33954974 |
| concepts[6].level | 2 |
| concepts[6].score | 0.5086084604263306 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q486494 |
| concepts[6].display_name | Sensor fusion |
| concepts[7].id | https://openalex.org/C156172958 |
| concepts[7].level | 4 |
| concepts[7].score | 0.4747610092163086 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q3438407 |
| concepts[7].display_name | Grid reference |
| concepts[8].id | https://openalex.org/C154945302 |
| concepts[8].level | 1 |
| concepts[8].score | 0.4684006869792938 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[8].display_name | Artificial intelligence |
| concepts[9].id | https://openalex.org/C2778559875 |
| concepts[9].level | 3 |
| concepts[9].score | 0.4632042646408081 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q1892023 |
| concepts[9].display_name | Map matching |
| concepts[10].id | https://openalex.org/C158525013 |
| concepts[10].level | 2 |
| concepts[10].score | 0.42070698738098145 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q2593739 |
| concepts[10].display_name | Fusion |
| concepts[11].id | https://openalex.org/C124101348 |
| concepts[11].level | 1 |
| concepts[11].score | 0.3274343013763428 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q172491 |
| concepts[11].display_name | Data mining |
| concepts[12].id | https://openalex.org/C33923547 |
| concepts[12].level | 0 |
| concepts[12].score | 0.2563019394874573 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[12].display_name | Mathematics |
| concepts[13].id | https://openalex.org/C19966478 |
| concepts[13].level | 3 |
| concepts[13].score | 0.2152416706085205 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q4810574 |
| concepts[13].display_name | Mobile robot |
| concepts[14].id | https://openalex.org/C90509273 |
| concepts[14].level | 2 |
| concepts[14].score | 0.1991957128047943 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[14].display_name | Robot |
| concepts[15].id | https://openalex.org/C138885662 |
| concepts[15].level | 0 |
| concepts[15].score | 0.0 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q5891 |
| concepts[15].display_name | Philosophy |
| concepts[16].id | https://openalex.org/C76155785 |
| concepts[16].level | 1 |
| concepts[16].score | 0.0 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q418 |
| concepts[16].display_name | Telecommunications |
| concepts[17].id | https://openalex.org/C185592680 |
| concepts[17].level | 0 |
| concepts[17].score | 0.0 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q2329 |
| concepts[17].display_name | Chemistry |
| concepts[18].id | https://openalex.org/C105795698 |
| concepts[18].level | 1 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q12483 |
| concepts[18].display_name | Statistics |
| concepts[19].id | https://openalex.org/C55493867 |
| concepts[19].level | 1 |
| concepts[19].score | 0.0 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q7094 |
| concepts[19].display_name | Biochemistry |
| concepts[20].id | https://openalex.org/C41895202 |
| concepts[20].level | 1 |
| concepts[20].score | 0.0 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q8162 |
| concepts[20].display_name | Linguistics |
| concepts[21].id | https://openalex.org/C104317684 |
| concepts[21].level | 2 |
| concepts[21].score | 0.0 |
| concepts[21].wikidata | https://www.wikidata.org/wiki/Q7187 |
| concepts[21].display_name | Gene |
| concepts[22].id | https://openalex.org/C60229501 |
| concepts[22].level | 2 |
| concepts[22].score | 0.0 |
| concepts[22].wikidata | https://www.wikidata.org/wiki/Q18822 |
| concepts[22].display_name | Global Positioning System |
| keywords[0].id | https://openalex.org/keywords/occupancy-grid-mapping |
| keywords[0].score | 0.7080790996551514 |
| keywords[0].display_name | Occupancy grid mapping |
| keywords[1].id | https://openalex.org/keywords/probabilistic-logic |
| keywords[1].score | 0.6713575720787048 |
| keywords[1].display_name | Probabilistic logic |
| keywords[2].id | https://openalex.org/keywords/computer-science |
| keywords[2].score | 0.5887776017189026 |
| keywords[2].display_name | Computer science |
| keywords[3].id | https://openalex.org/keywords/simultaneous-localization-and-mapping |
| keywords[3].score | 0.5395547151565552 |
| keywords[3].display_name | Simultaneous localization and mapping |
| keywords[4].id | https://openalex.org/keywords/transformation |
| keywords[4].score | 0.5284668803215027 |
| keywords[4].display_name | Transformation (genetics) |
| keywords[5].id | https://openalex.org/keywords/matching |
| keywords[5].score | 0.513235330581665 |
| keywords[5].display_name | Matching (statistics) |
| keywords[6].id | https://openalex.org/keywords/sensor-fusion |
| keywords[6].score | 0.5086084604263306 |
| keywords[6].display_name | Sensor fusion |
| keywords[7].id | https://openalex.org/keywords/grid-reference |
| keywords[7].score | 0.4747610092163086 |
| keywords[7].display_name | Grid reference |
| keywords[8].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[8].score | 0.4684006869792938 |
| keywords[8].display_name | Artificial intelligence |
| keywords[9].id | https://openalex.org/keywords/map-matching |
| keywords[9].score | 0.4632042646408081 |
| keywords[9].display_name | Map matching |
| keywords[10].id | https://openalex.org/keywords/fusion |
| keywords[10].score | 0.42070698738098145 |
| keywords[10].display_name | Fusion |
| keywords[11].id | https://openalex.org/keywords/data-mining |
| keywords[11].score | 0.3274343013763428 |
| keywords[11].display_name | Data mining |
| keywords[12].id | https://openalex.org/keywords/mathematics |
| keywords[12].score | 0.2563019394874573 |
| keywords[12].display_name | Mathematics |
| keywords[13].id | https://openalex.org/keywords/mobile-robot |
| keywords[13].score | 0.2152416706085205 |
| keywords[13].display_name | Mobile robot |
| keywords[14].id | https://openalex.org/keywords/robot |
| keywords[14].score | 0.1991957128047943 |
| keywords[14].display_name | Robot |
| language | en |
| locations[0].id | doi:10.1109/jsen.2018.2867854 |
| locations[0].is_oa | False |
| locations[0].source.id | https://openalex.org/S189694085 |
| locations[0].source.issn | 1530-437X, 1558-1748 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | False |
| locations[0].source.issn_l | 1530-437X |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | IEEE Sensors Journal |
| locations[0].source.host_organization | https://openalex.org/P4310321027 |
| locations[0].source.host_organization_name | IEEE Sensors Council |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310321027, https://openalex.org/P4310319808 |
| locations[0].source.host_organization_lineage_names | IEEE Sensors Council, Institute of Electrical and Electronics Engineers |
| locations[0].license | |
| locations[0].pdf_url | |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | IEEE Sensors Journal |
| locations[0].landing_page_url | https://doi.org/10.1109/jsen.2018.2867854 |
| locations[1].id | pmh:oai:dr.ntu.edu.sg:10356/106304 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306402609 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | DR-NTU (Nanyang Technological University) |
| locations[1].source.host_organization | https://openalex.org/I172675005 |
| locations[1].source.host_organization_name | Nanyang Technological University |
| locations[1].source.host_organization_lineage | https://openalex.org/I172675005 |
| locations[1].license | |
| locations[1].pdf_url | https://dr.ntu.edu.sg/bitstream/10356/106304/1/2.2018-Ieee_sensor.pdf |
| locations[1].version | submittedVersion |
| locations[1].raw_type | Journal Article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | http://hdl.handle.net/10220/49018 |
| indexed_in | crossref |
| authorships[0].author.id | https://openalex.org/A5068949782 |
| authorships[0].author.orcid | https://orcid.org/0000-0001-6628-7946 |
| authorships[0].author.display_name | Yufeng Yue |
| authorships[0].countries | SG |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[0].affiliations[0].raw_affiliation_string | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[0].institutions[0].id | https://openalex.org/I172675005 |
| authorships[0].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[0].institutions[0].country_code | SG |
| authorships[0].institutions[0].display_name | Nanyang Technological University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Yufeng Yue |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[1].author.id | https://openalex.org/A5089646749 |
| authorships[1].author.orcid | |
| authorships[1].author.display_name | P.G.C.N. Senarathne |
| authorships[1].countries | SG |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[1].affiliations[0].raw_affiliation_string | ST Engineering-NTU Corporate Laboratory, Nanyang Technological University, Singapore |
| authorships[1].institutions[0].id | https://openalex.org/I172675005 |
| authorships[1].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[1].institutions[0].country_code | SG |
| authorships[1].institutions[0].display_name | Nanyang Technological University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | P. G. C. Namal Senarathne |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | ST Engineering-NTU Corporate Laboratory, Nanyang Technological University, Singapore |
| authorships[2].author.id | https://openalex.org/A5024505549 |
| authorships[2].author.orcid | https://orcid.org/0000-0002-6548-5841 |
| authorships[2].author.display_name | Chule Yang |
| authorships[2].countries | SG |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[2].affiliations[0].raw_affiliation_string | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[2].institutions[0].id | https://openalex.org/I172675005 |
| authorships[2].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[2].institutions[0].country_code | SG |
| authorships[2].institutions[0].display_name | Nanyang Technological University |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Chule Yang |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[3].author.id | https://openalex.org/A5100754322 |
| authorships[3].author.orcid | https://orcid.org/0000-0001-7406-5243 |
| authorships[3].author.display_name | Jun Zhang |
| authorships[3].countries | SG |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[3].affiliations[0].raw_affiliation_string | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[3].institutions[0].id | https://openalex.org/I172675005 |
| authorships[3].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[3].institutions[0].country_code | SG |
| authorships[3].institutions[0].display_name | Nanyang Technological University |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Jun Zhang |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[4].author.id | https://openalex.org/A5059520724 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-9751-2648 |
| authorships[4].author.display_name | Mingxing Wen |
| authorships[4].countries | SG |
| authorships[4].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[4].affiliations[0].raw_affiliation_string | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[4].institutions[0].id | https://openalex.org/I172675005 |
| authorships[4].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[4].institutions[0].type | education |
| authorships[4].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[4].institutions[0].country_code | SG |
| authorships[4].institutions[0].display_name | Nanyang Technological University |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Mingxing Wen |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[5].author.id | https://openalex.org/A5083472752 |
| authorships[5].author.orcid | |
| authorships[5].author.display_name | Danwei Wang |
| authorships[5].countries | SG |
| authorships[5].affiliations[0].institution_ids | https://openalex.org/I172675005 |
| authorships[5].affiliations[0].raw_affiliation_string | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| authorships[5].institutions[0].id | https://openalex.org/I172675005 |
| authorships[5].institutions[0].ror | https://ror.org/02e7b5302 |
| authorships[5].institutions[0].type | education |
| authorships[5].institutions[0].lineage | https://openalex.org/I172675005 |
| authorships[5].institutions[0].country_code | SG |
| authorships[5].institutions[0].display_name | Nanyang Technological University |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | Danwei Wang |
| authorships[5].is_corresponding | False |
| authorships[5].raw_affiliation_strings | School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://dr.ntu.edu.sg/bitstream/10356/106304/1/2.2018-Ieee_sensor.pdf |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Hierarchical Probabilistic Fusion Framework for Matching and Merging of 3-D Occupancy Maps |
| has_fulltext | True |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9998999834060669 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W1992005931, https://openalex.org/W2077648827, https://openalex.org/W3010770189, https://openalex.org/W2140960507, https://openalex.org/W3130035014, https://openalex.org/W3097864550, https://openalex.org/W4210470126, https://openalex.org/W2171919433, https://openalex.org/W2890234822, https://openalex.org/W2574226501 |
| cited_by_count | 44 |
| counts_by_year[0].year | 2025 |
| counts_by_year[0].cited_by_count | 1 |
| counts_by_year[1].year | 2024 |
| counts_by_year[1].cited_by_count | 4 |
| counts_by_year[2].year | 2023 |
| counts_by_year[2].cited_by_count | 5 |
| counts_by_year[3].year | 2022 |
| counts_by_year[3].cited_by_count | 4 |
| counts_by_year[4].year | 2021 |
| counts_by_year[4].cited_by_count | 1 |
| counts_by_year[5].year | 2020 |
| counts_by_year[5].cited_by_count | 15 |
| counts_by_year[6].year | 2019 |
| counts_by_year[6].cited_by_count | 12 |
| counts_by_year[7].year | 2018 |
| counts_by_year[7].cited_by_count | 2 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:dr.ntu.edu.sg:10356/106304 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306402609 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | False |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | DR-NTU (Nanyang Technological University) |
| best_oa_location.source.host_organization | https://openalex.org/I172675005 |
| best_oa_location.source.host_organization_name | Nanyang Technological University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I172675005 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://dr.ntu.edu.sg/bitstream/10356/106304/1/2.2018-Ieee_sensor.pdf |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | Journal Article |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://hdl.handle.net/10220/49018 |
| primary_location.id | doi:10.1109/jsen.2018.2867854 |
| primary_location.is_oa | False |
| primary_location.source.id | https://openalex.org/S189694085 |
| primary_location.source.issn | 1530-437X, 1558-1748 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | False |
| primary_location.source.issn_l | 1530-437X |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | IEEE Sensors Journal |
| primary_location.source.host_organization | https://openalex.org/P4310321027 |
| primary_location.source.host_organization_name | IEEE Sensors Council |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310321027, https://openalex.org/P4310319808 |
| primary_location.source.host_organization_lineage_names | IEEE Sensors Council, Institute of Electrical and Electronics Engineers |
| primary_location.license | |
| primary_location.pdf_url | |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | IEEE Sensors Journal |
| primary_location.landing_page_url | https://doi.org/10.1109/jsen.2018.2867854 |
| publication_date | 2018-08-30 |
| publication_year | 2018 |
| referenced_works | https://openalex.org/W1605812324, https://openalex.org/W2566688177, https://openalex.org/W2119398218, https://openalex.org/W2092371500, https://openalex.org/W2595341332, https://openalex.org/W1485107335, https://openalex.org/W2026869710, https://openalex.org/W2102233102, https://openalex.org/W1976809435, https://openalex.org/W1216267331, https://openalex.org/W2738207958, https://openalex.org/W1968132847, https://openalex.org/W2560389705, https://openalex.org/W2000146415, https://openalex.org/W1536078990, https://openalex.org/W2063549868, https://openalex.org/W2414309118, https://openalex.org/W2566597158, https://openalex.org/W2543842619, https://openalex.org/W2744185614, https://openalex.org/W2152864241, https://openalex.org/W1973979427, https://openalex.org/W1983043788, https://openalex.org/W2199085611, https://openalex.org/W2133844819, https://openalex.org/W2057773025, https://openalex.org/W6732979571, https://openalex.org/W2049981393, https://openalex.org/W2128251042, https://openalex.org/W4249866455, https://openalex.org/W1996520948, https://openalex.org/W2073429395, https://openalex.org/W2072784638, https://openalex.org/W1990101796, https://openalex.org/W2573552470, https://openalex.org/W2140542425, https://openalex.org/W2312352258, https://openalex.org/W2155620850, https://openalex.org/W2031450028, https://openalex.org/W1514716220, https://openalex.org/W2144594079, https://openalex.org/W2167387804, https://openalex.org/W2139114878, https://openalex.org/W2205443796, https://openalex.org/W6745817655, https://openalex.org/W2069479606, https://openalex.org/W170770739, https://openalex.org/W2586560793, https://openalex.org/W1650975994, https://openalex.org/W2169901455, https://openalex.org/W2767986757, https://openalex.org/W2336416123 |
| referenced_works_count | 52 |
| abstract_inverted_index.A | 18 |
| abstract_inverted_index.a | 39, 76, 104, 125, 134 |
| abstract_inverted_index.In | 93 |
| abstract_inverted_index.by | 4 |
| abstract_inverted_index.in | 7, 15, 124 |
| abstract_inverted_index.is | 25, 83, 99, 113, 145, 158, 176 |
| abstract_inverted_index.of | 47, 60, 202 |
| abstract_inverted_index.on | 149 |
| abstract_inverted_index.to | 27, 85, 102, 116, 161 |
| abstract_inverted_index.3-D | 1, 19, 205 |
| abstract_inverted_index.For | 73 |
| abstract_inverted_index.PMM | 143 |
| abstract_inverted_index.The | 138, 173 |
| abstract_inverted_index.and | 32, 54, 65, 71, 89, 110, 128, 153, 185, 188, 195 |
| abstract_inverted_index.are | 13, 68 |
| abstract_inverted_index.for | 23, 198 |
| abstract_inverted_index.its | 111 |
| abstract_inverted_index.map | 50, 55, 63, 74, 79, 121, 164, 170, 179, 207 |
| abstract_inverted_index.the | 29, 58, 62, 94, 96, 108, 118, 150, 154, 163, 169, 189, 192, 196, 203 |
| abstract_inverted_index.PMM, | 95 |
| abstract_inverted_index.This | 36 |
| abstract_inverted_index.both | 183 |
| abstract_inverted_index.data | 180 |
| abstract_inverted_index.from | 142, 182 |
| abstract_inverted_index.maps | 2, 109, 132 |
| abstract_inverted_index.more | 126, 166 |
| abstract_inverted_index.real | 186 |
| abstract_inverted_index.then | 114, 146 |
| abstract_inverted_index.this | 16 |
| abstract_inverted_index.time | 9, 31 |
| abstract_inverted_index.used | 101, 115, 159 |
| abstract_inverted_index.with | 133 |
| abstract_inverted_index.(PMM) | 81 |
| abstract_inverted_index.based | 148 |
| abstract_inverted_index.basin | 201 |
| abstract_inverted_index.first | 100 |
| abstract_inverted_index.level | 120 |
| abstract_inverted_index.maps, | 61 |
| abstract_inverted_index.novel | 40 |
| abstract_inverted_index.paper | 37 |
| abstract_inverted_index.their | 66 |
| abstract_inverted_index.using | 178 |
| abstract_inverted_index.voxel | 91, 119 |
| abstract_inverted_index.which | 45 |
| abstract_inverted_index.Before | 57 |
| abstract_inverted_index.Fusing | 0 |
| abstract_inverted_index.basin. | 137 |
| abstract_inverted_index.coarse | 105 |
| abstract_inverted_index.filter | 157 |
| abstract_inverted_index.fusion | 43, 59, 171, 208 |
| abstract_inverted_index.larger | 135, 199 |
| abstract_inverted_index.output | 141 |
| abstract_inverted_index.paper. | 17 |
| abstract_inverted_index.result | 112 |
| abstract_inverted_index.robots | 6 |
| abstract_inverted_index.between | 107, 131 |
| abstract_inverted_index.entropy | 156 |
| abstract_inverted_index.improve | 117 |
| abstract_inverted_index.include | 86 |
| abstract_inverted_index.mapping | 11, 24 |
| abstract_inverted_index.modeled | 70 |
| abstract_inverted_index.results | 190 |
| abstract_inverted_index.satisfy | 28 |
| abstract_inverted_index.support | 197 |
| abstract_inverted_index.systems | 12 |
| abstract_inverted_index.accurate | 129 |
| abstract_inverted_index.approach | 22, 175 |
| abstract_inverted_index.consists | 46 |
| abstract_inverted_index.features | 64 |
| abstract_inverted_index.generate | 103 |
| abstract_inverted_index.matching | 80, 106, 130 |
| abstract_inverted_index.merging. | 56 |
| abstract_inverted_index.multiple | 5 |
| abstract_inverted_index.process. | 172 |
| abstract_inverted_index.proposed | 174, 204 |
| abstract_inverted_index.proposes | 38 |
| abstract_inverted_index.relative | 139, 155 |
| abstract_inverted_index.utilized | 26 |
| abstract_inverted_index.validate | 191 |
| abstract_inverted_index.accuracy, | 193 |
| abstract_inverted_index.addressed | 14 |
| abstract_inverted_index.algorithm | 82, 144 |
| abstract_inverted_index.collected | 181 |
| abstract_inverted_index.developed | 84 |
| abstract_inverted_index.distance, | 152 |
| abstract_inverted_index.efficient | 127 |
| abstract_inverted_index.evaluated | 147, 177 |
| abstract_inverted_index.features. | 92 |
| abstract_inverted_index.generated | 3 |
| abstract_inverted_index.integrate | 162 |
| abstract_inverted_index.low-level | 90 |
| abstract_inverted_index.matching, | 51, 75, 122 |
| abstract_inverted_index.modeling, | 49 |
| abstract_inverted_index.occupancy | 20, 206 |
| abstract_inverted_index.operating | 34 |
| abstract_inverted_index.resulting | 123 |
| abstract_inverted_index.simulated | 184 |
| abstract_inverted_index.two-level | 77 |
| abstract_inverted_index.completing | 168 |
| abstract_inverted_index.explicitly | 69 |
| abstract_inverted_index.framework, | 44 |
| abstract_inverted_index.framework. | 209 |
| abstract_inverted_index.grid-based | 21 |
| abstract_inverted_index.high-level | 87 |
| abstract_inverted_index.structural | 88, 97 |
| abstract_inverted_index.Mahalanobis | 151 |
| abstract_inverted_index.accurately, | 167 |
| abstract_inverted_index.convergence | 136, 200 |
| abstract_inverted_index.distributed | 10, 33 |
| abstract_inverted_index.efficiency, | 194 |
| abstract_inverted_index.evaluation, | 53 |
| abstract_inverted_index.integrated. | 72 |
| abstract_inverted_index.uncertainty | 48, 98 |
| abstract_inverted_index.constraints. | 35 |
| abstract_inverted_index.hierarchical | 41 |
| abstract_inverted_index.subsequently | 160 |
| abstract_inverted_index.environments, | 187 |
| abstract_inverted_index.probabilistic | 42, 78 |
| abstract_inverted_index.uncertainties | 67 |
| abstract_inverted_index.real/semi-real | 8, 30 |
| abstract_inverted_index.transformation | 52, 140 |
| abstract_inverted_index.dissimilarities | 165 |
| cited_by_percentile_year.max | 99 |
| cited_by_percentile_year.min | 89 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 6 |
| citation_normalized_percentile.value | 0.98797944 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | True |