{"id":"https://openalex.org/W4387323560","doi":"https://doi.org/10.48550/arxiv.2310.00401","title":"Learning High-level Semantic-Relational Concepts for SLAM","display_name":"Learning High-level Semantic-Relational Concepts for SLAM","publication_year":2023,"publication_date":"2023-09-30","ids":{"openalex":"https://openalex.org/W4387323560","doi":"https://doi.org/10.48550/arxiv.2310.00401"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2310.00401","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.00401","pdf_url":"https://arxiv.org/pdf/2310.00401","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":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2310.00401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030252996","display_name":"Jose Andres Millan-Romera","orcid":"https://orcid.org/0000-0002-1297-7463"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Millan-Romera, Jose Andres","raw_affiliation_strings":[],"raw_orcid":null,"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":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","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":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040640817","display_name":"Martin R. Oswald","orcid":"https://orcid.org/0000-0002-1183-9958"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oswald, Martin R.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","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":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","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":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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":0.9983000159263611,"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":0.7659870982170105},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5435925722122192},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5351083874702454},{"id":"https://openalex.org/keywords/semantic-property","display_name":"Semantic property","score":0.5007131099700928},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.486884742975235},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44894644618034363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4475402235984802},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.4343523383140564},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4300330579280853},{"id":"https://openalex.org/keywords/situational-ethics","display_name":"Situational ethics","score":0.42295610904693604},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36570310592651367},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.34596535563468933},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3002087473869324}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7659870982170105},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5435925722122192},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5351083874702454},{"id":"https://openalex.org/C198942812","wikidata":"https://www.wikidata.org/wiki/Q496618","display_name":"Semantic property","level":2,"score":0.5007131099700928},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.486884742975235},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44894644618034363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4475402235984802},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.4343523383140564},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4300330579280853},{"id":"https://openalex.org/C9114305","wikidata":"https://www.wikidata.org/wiki/Q1428317","display_name":"Situational ethics","level":2,"score":0.42295610904693604},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36570310592651367},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34596535563468933},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3002087473869324},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2310.00401","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.00401","pdf_url":"https://arxiv.org/pdf/2310.00401","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":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:orbilu.uni.lu:10993/58261","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/58261","pdf_url":"https://orbilu.uni.lu/bitstream/10993/58261/1/IROS_2024_Learning_High_level_Semantic_Relational_Concepts_for_SLAM%20%283%29.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Intelligent Robots and Systems, 8 (2023); 2024 International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates [AE], 14/10/2024 - 18/10/2024","raw_type":"http://purl.org/coar/resource_type/c_5794"},{"id":"doi:10.48550/arxiv.2310.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2310.00401","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":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2310.00401","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.00401","pdf_url":"https://arxiv.org/pdf/2310.00401","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":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387323560.pdf","grobid_xml":"https://content.openalex.org/works/W4387323560.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2012350746","https://openalex.org/W162456724","https://openalex.org/W4389264631","https://openalex.org/W2354832544","https://openalex.org/W4252544247","https://openalex.org/W4386286863","https://openalex.org/W2883563059","https://openalex.org/W2390159806","https://openalex.org/W4223942575","https://openalex.org/W3043836914"],"abstract_inverted_index":{"Recent":[0],"works":[1],"on":[2,57,117],"SLAM":[3],"extend":[4],"their":[5],"pose":[6,205],"graphs":[7],"with":[8,97,174],"higher-level":[9],"semantic":[10,49,58],"concepts":[11,89,125],"like":[12],"Rooms":[13],"exploiting":[14],"relationships":[15,50],"between":[16],"them,":[17],"to":[18,30,76,87,150,154,210],"provide,":[19],"not":[20],"only":[21],"a":[22,44,136],"richer":[23],"representation":[24],"of":[25,34,90,138,145,158],"the":[26,32,52,79,131,151,156,200,211,216],"situation/environment":[27],"but":[28],"also":[29],"improve":[31],"accuracy":[33,208],"its":[35,102,172,175],"estimation.":[36],"Concretely,":[37],"our":[38,141,159,161,179,197],"previous":[39],"work,":[40,111],"Situational":[41],"Graphs":[42],"(S-Graphs+),":[43],"pioneer":[45],"in":[46,51,82,109,181],"jointly":[47],"leveraging":[48],"factor":[53,133],"optimization":[54],"process,":[55],"relies":[56],"entities":[59,148],"such":[60],"as":[61],"Planes":[62,140],"and":[63,171,184,206],"Rooms,":[64],"whose":[65],"relationship":[66,173],"is":[67,72,94,143],"mathematically":[68],"defined.":[69],"Nevertheless,":[70],"there":[71],"no":[73],"unique":[74],"approach":[75],"finding":[77],"all":[78],"hidden":[80],"patterns":[81],"lower-level":[83],"factor-graphs":[84],"that":[85,126],"correspond":[86],"high-level":[88,123],"different":[91],"natures.":[92],"It":[93],"currently":[95],"tackled":[96],"ad-hoc":[98],"algorithms,":[99],"which":[100],"limits":[101],"graph":[103],"expressiveness.":[104],"To":[105],"overcome":[106],"this":[107,110],"limitation,":[108],"we":[112,195],"propose":[113],"an":[114,165],"algorithm":[115,142,162,202],"based":[116],"Graph":[118],"Neural":[119],"Networks":[120],"for":[121],"learning":[122],"semantic-relational":[124,167],"can":[127,163],"be":[128],"inferred":[129],"from":[130],"low-level":[132],"graph.":[134],"Given":[135],"set":[137],"mapped":[139],"capable":[144],"inferring":[146],"Room":[147],"relating":[149],"Planes.":[152,176],"Additionally,":[153],"demonstrate":[155],"versatility":[157],"method,":[160],"infer":[164],"additional":[166],"concept,":[168],"i.e.":[169],"Wall,":[170],"We":[177],"validate":[178],"method":[180,198],"both":[182],"simulated":[183],"real":[185],"datasets":[186],"demonstrating":[187],"improved":[188,204],"performance":[189],"over":[190],"two":[191],"baseline":[192,212],"approaches.":[193],"Furthermore,":[194],"integrate":[196],"into":[199],"S-Graphs+":[201],"providing":[203],"map":[207],"compared":[209],"while":[213],"further":[214],"enhancing":[215],"scene":[217],"representation.":[218]},"counts_by_year":[],"updated_date":"2026-07-12T07:33:03.550515","created_date":"2023-10-04T00:00:00"}