{"id":"https://openalex.org/W2139267416","doi":"https://doi.org/10.1109/tro.2005.852262","title":"A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle","display_name":"A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle","publication_year":2005,"publication_date":"2005-09-26","ids":{"openalex":"https://openalex.org/W2139267416","doi":"https://doi.org/10.1109/tro.2005.852262","mag":"2139267416"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2005.852262","doi":"https://doi.org/10.1109/tro.2005.852262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2005.852262","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10261/12834","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014741376","display_name":"Josep M. Mirats Tur","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"government","lineage":["https://openalex.org/I134820265"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.M.M. Tur","raw_affiliation_strings":["Institut de Rob\u00f2tica, UPC-CSIC, Barcelona, Spain","Inst. de Robotica, UPC-CSIC, Barcelona, Spain#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica, UPC-CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Inst. de Robotica, UPC-CSIC, Barcelona, Spain#TAB#","institution_ids":["https://openalex.org/I134820265","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110613534","display_name":"Jos\u00e9 Luis Gordillo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J.L. Gordillo","raw_affiliation_strings":["Center for Intelligent Systems (CSI), Tecnol\u00f3gico de Monterrey, Monterrey, Nuevo Leon, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems (CSI), Tecnol\u00f3gico de Monterrey, Monterrey, Nuevo Leon, Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110217674","display_name":"Carlos Albores Borja","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"C.A. Borja","raw_affiliation_strings":["Center for Intelligent Systems (CSI), Tecnol\u00f3gico de Monterrey, Monterrey, Nuevo Leon, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems (CSI), Tecnol\u00f3gico de Monterrey, Monterrey, Nuevo Leon, Mexico","institution_ids":["https://openalex.org/I98461037"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":5.402,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94956413,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":"5","first_page":"1017","last_page":"1022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.95169997215271,"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":0.95169997215271,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.02500000037252903,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.018300000578165054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"odometry","score":0.921999990940094},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"covariance matrix","score":0.7570000290870667},{"id":"https://openalex.org/keywords/closed-form-expressions","display_name":"closed-form expressions","score":0.9340000152587891},{"id":"https://openalex.org/keywords/ackermann-steering","display_name":"Ackermann steering","score":0.6660000085830688},{"id":"https://openalex.org/keywords/nonholonomic-vehicles","display_name":"nonholonomic vehicles","score":0.8199999928474426},{"id":"https://openalex.org/keywords/autonomous-vehicles","display_name":"autonomous vehicles","score":0.8669999837875366},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.7300000190734863},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6039999723434448},{"id":"https://openalex.org/keywords/vehicle-localization","display_name":"vehicle localization","score":0.5550000071525574}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8774913549423218},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7347365021705627},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.723618745803833},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.6444727182388306},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5368626117706299},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5299217104911804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5297110080718994},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5187918543815613},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.500805139541626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4973657429218292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48111671209335327},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4694758355617523},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.4340283274650574},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.42312976717948914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3597315549850464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2801453471183777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2780534327030182},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2647758722305298},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2005.852262","doi":"https://doi.org/10.1109/tro.2005.852262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2005.852262","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:digital.csic.es:10261/12834","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/12834","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"Art\u00edculo"}],"best_oa_location":{"id":"pmh:oai:digital.csic.es:10261/12834","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/12834","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"Art\u00edculo"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320323037","display_name":"Instituto Tecnol\u00f3gico y de Estudios Superiores de Monterrey","ror":"https://ror.org/03ayjn504"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1517273206","https://openalex.org/W1553616171","https://openalex.org/W1558476560","https://openalex.org/W1599888605","https://openalex.org/W1667165204","https://openalex.org/W1866683701","https://openalex.org/W1990012555","https://openalex.org/W2036488048","https://openalex.org/W2077669129","https://openalex.org/W2087515342","https://openalex.org/W2089437550","https://openalex.org/W2114165749","https://openalex.org/W2121078404","https://openalex.org/W2122261647","https://openalex.org/W2123151584","https://openalex.org/W2126086821","https://openalex.org/W2135681398","https://openalex.org/W2154535059","https://openalex.org/W2162197665","https://openalex.org/W2164148538","https://openalex.org/W2164595491","https://openalex.org/W2179055686","https://openalex.org/W2266533982"],"related_works":["https://openalex.org/W2129073825","https://openalex.org/W1963519832","https://openalex.org/W2162540223","https://openalex.org/W916141288","https://openalex.org/W2179055686","https://openalex.org/W6996675376","https://openalex.org/W3199886019","https://openalex.org/W4412404989","https://openalex.org/W2125737764","https://openalex.org/W2808875074"],"abstract_inverted_index":{"Using":[0],"internal":[1,151],"and":[2,19,97,160,171],"external":[3],"sensors":[4,48],"to":[5,15,43],"provide":[6],"position":[7,35,67,114],"estimates":[8,68],"in":[9,65,102,111],"a":[10,23,31,79,105,117,121,136],"two-dimensional":[11],"space":[12],"is":[13,37,76,83,126,168],"necessary":[14],"solve":[16],"the":[17,63,66,71,91,109,112,129,145,153,157,161],"localization":[18],"navigation":[20],"problems":[21],"for":[22,53,108,135,150],"robot":[24],"or":[25],"an":[26,60],"autonomous":[27],"vehicle":[28],"(AV).":[29],"Usually,":[30],"unique":[32],"source":[33],"of":[34,62,93,116],"information":[36],"not":[38],"enough,":[39],"so":[40],"researchers":[41],"try":[42],"fuse":[44],"data":[45],"from":[46,70,86,128],"different":[47],"using":[49,120],"several":[50],"methods,":[51],"as,":[52],"example,":[54],"Kalman":[55,174],"filtering.":[56,175],"Those":[57],"methods":[58],"need":[59],"estimation":[61],"uncertainty":[64,75,110],"obtained":[69,85,149],"sensory":[72],"system.":[73],"This":[74],"expressed":[77],"by":[78,90],"covariance":[80,122],"matrix,":[81,95],"which":[82],"usually":[84],"experimental":[87],"data,":[88],"assuming,":[89],"nature":[92],"this":[94,103],"general":[96],"unconstrained":[98],"motion.":[99],"We":[100,132],"propose":[101],"paper":[104],"closed-form":[106],"expression":[107],"odometry":[113],"estimate":[115],"mobile":[118],"vehicle,":[119],"matrix":[123],"whose":[124],"form":[125],"derived":[127],"cinematic":[130,142],"model.":[131],"then":[133],"particularize":[134],"nonholonomic":[137],"Ackerman":[138],"driving-type":[139],"AV.":[140],"Its":[141],"model":[143],"relates":[144],"two":[146],"measures":[147],"being":[148],"sensors:":[152],"velocity,":[154],"translated":[155],"into":[156],"instantaneous":[158,162],"displacement;":[159],"steering":[163],"angle.":[164],"The":[165],"proposed":[166],"method":[167],"validated":[169],"experimentally,":[170],"compared":[172],"against":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2016-06-24T00:00:00"}
