{"id":"https://openalex.org/W2196731411","doi":"https://doi.org/10.1504/ijcvr.2015.072191","title":"Hierarchical approach to fingerprint of places based real-time topological mapping for autonomous rovers","display_name":"Hierarchical approach to fingerprint of places based real-time topological mapping for autonomous rovers","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W2196731411","doi":"https://doi.org/10.1504/ijcvr.2015.072191","mag":"2196731411"},"language":"en","primary_location":{"id":"doi:10.1504/ijcvr.2015.072191","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijcvr.2015.072191","pdf_url":null,"source":{"id":"https://openalex.org/S11968101","display_name":"International Journal of Computational Vision and Robotics","issn_l":"1752-9131","issn":["1752-9131","1752-914X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Vision and Robotics","raw_type":"journal-article"},"type":"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/A5077683286","display_name":"Prabhakar Mishra","orcid":"https://orcid.org/0000-0002-9631-3508"},"institutions":[{"id":"https://openalex.org/I196608512","display_name":"PES University","ror":"https://ror.org/05m169e78","country_code":"IN","type":"education","lineage":["https://openalex.org/I196608512"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prabhakar Mishra","raw_affiliation_strings":["Centre for Intelligent Systems, Department of Telecommunication Engineering, PES Institute of Technology, Bangalore-560085, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Systems, Department of Telecommunication Engineering, PES Institute of Technology, Bangalore-560085, India","institution_ids":["https://openalex.org/I196608512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110966116","display_name":"J. K. Kishore","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"J.K. Kishore","raw_affiliation_strings":["Avionics Production Division, ISRO Satellite Centre, Bangalore, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Avionics Production Division, ISRO Satellite Centre, Bangalore, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110288179","display_name":"Harish S Bharadwaj","orcid":null},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Harish S. Bharadwaj","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Science, Bangalore, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23439948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"4","first_page":"385","last_page":"385"},"is_retracted":false,"is_paratext":false,"is_xpac":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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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":0.8317474126815796},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6199491024017334},{"id":"https://openalex.org/keywords/fingerprint","display_name":"Fingerprint (computing)","score":0.5502585768699646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5083422064781189},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.507602334022522},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.49607905745506287},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.4927239716053009},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.39506080746650696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38718968629837036},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.37618955969810486},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3298524022102356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21575307846069336},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19747602939605713}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8317474126815796},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6199491024017334},{"id":"https://openalex.org/C2777826928","wikidata":"https://www.wikidata.org/wiki/Q3745713","display_name":"Fingerprint (computing)","level":2,"score":0.5502585768699646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5083422064781189},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.507602334022522},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.49607905745506287},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.4927239716053009},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.39506080746650696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38718968629837036},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37618955969810486},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3298524022102356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21575307846069336},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19747602939605713},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1504/ijcvr.2015.072191","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijcvr.2015.072191","pdf_url":null,"source":{"id":"https://openalex.org/S11968101","display_name":"International Journal of Computational Vision and Robotics","issn_l":"1752-9131","issn":["1752-9131","1752-914X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Vision and Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1516773571","https://openalex.org/W1996518131","https://openalex.org/W1999050017","https://openalex.org/W2074231493","https://openalex.org/W2082092596","https://openalex.org/W2097771816","https://openalex.org/W2111131473","https://openalex.org/W2116231569","https://openalex.org/W2116833168","https://openalex.org/W2119605622","https://openalex.org/W2126836596","https://openalex.org/W2130103520","https://openalex.org/W2144652450","https://openalex.org/W2150839555","https://openalex.org/W2151103935","https://openalex.org/W2163939897"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W4288094128","https://openalex.org/W4313563004"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"in":[2,12,77,127,140,153],"partially":[3],"known":[4],"or":[5],"unknown":[6],"environment":[7],"requires":[8],"the":[9,38,62,74,106,148,157],"ability":[10],"of":[11,25,48,73,108,147],"motion":[13],"mapping":[14,22],"and":[15,28,95,119,129],"localisation.":[16],"Exploratory":[17],"rovers":[18],"employ":[19],"a":[20,45,57,66,78,87,101],"hybrid":[21],"approach":[23,51],"comprising":[24],"locally":[26],"metric":[27],"globally":[29],"topological":[30,54],"maps":[31,55],"to":[32,52,137],"meet":[33],"resource":[34,141],"constraints":[35],"imposed":[36],"by":[37,86,116],"payload.":[39],"In":[40],"this":[41,109],"paper,":[42],"we":[43],"discuss":[44],"hierarchical":[46,89],"fingerprint":[47,90],"places":[49],"based":[50],"generating":[53],"using":[56,112],"single":[58],"camera":[59],"mounted":[60],"on":[61,123],"rover.":[63],"We":[64,99],"propose":[65],"novel":[67],"feature":[68],"extraction":[69],"process":[70],"for":[71,104,160],"generation":[72],"finger":[75],"prints":[76],"monocular":[79],"vision":[80],"framework.":[81],"Each":[82],"place":[83],"is":[84,135],"characterised":[85],"multi-level":[88],"which":[91],"provides":[92],"better":[93],"localisation":[94],"loop":[96],"closure":[97],"detection.":[98],"use":[100],"two-pronged":[102],"strategy":[103],"evaluating":[105],"performance":[107],"approach:":[110],"firstly,":[111],"standard":[113],"datasets":[114],"provided":[115],"different":[117],"universities":[118],"secondly,":[120],"in-situ":[121],"validation":[122],"our":[124],"experimental":[125],"rover":[126,143],"indoor":[128],"outdoor":[130],"environments.":[131],"The":[132,145],"proposed":[133,149],"algorithm":[134],"amenable":[136],"real-time":[138,161],"implementation":[139],"constrained":[142],"systems.":[144],"comparison":[146],"method":[150],"with":[151],"those":[152],"literature":[154],"brings":[155],"out":[156],"computational":[158],"attractiveness":[159],"implementation.":[162]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}