{"id":"https://openalex.org/W2945472020","doi":null,"title":"Active global localisation for a mobile robot using multiple hypothesis tracking","display_name":"Active global localisation for a mobile robot using multiple hypothesis tracking","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W2945472020","mag":"2945472020"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.111.947","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.111.947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated1/jensfelt_multiple_hypothesis_tracking.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"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/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162","observed_orcids":["https://orcid.org/0000-0002-1170-7162"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-1170-7162","affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5056213200","display_name":"Steen Savstrup Kristensen","orcid":"https://orcid.org/0000-0001-5928-1802","observed_orcids":["https://orcid.org/0000-0001-5928-1802"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Steen Savstrup Kristensen","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-5928-1802","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3428,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.97434402,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":9.999999747378752e-05,"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/kidnapped-robot-problem","display_name":"kidnapped robot problem","score":0.9580000042915344},{"id":"https://openalex.org/keywords/mobile-robot-localization","display_name":"mobile robot localization","score":0.8399999737739563},{"id":"https://openalex.org/keywords/multiple-hypothesis-tracking","display_name":"multiple hypothesis tracking","score":0.9269999861717224},{"id":"https://openalex.org/keywords/pose-estimation","display_name":"pose estimation","score":0.5669999718666077},{"id":"https://openalex.org/keywords/information-gathering","display_name":"information gathering","score":0.527999997138977}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.707150936126709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6787745952606201},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5567469596862793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5111082196235657},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46988773345947266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3946191966533661},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.111.947","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.111.947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated1/jensfelt_multiple_hypothesis_tracking.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.34.2393","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.34.2393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.vision.auc.dk/~sk/ps/mht_localisation.ps.Z","raw_type":"text"},{"id":"mag:2945472020","doi":null,"is_oa":false,"landing_page_url":"http://kth.diva-portal.org/smash/record.jsf?pid=diva2:468373","pdf_url":null,"source":{"id":"https://openalex.org/S4306419999","display_name":"International Joint Conference on Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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,"raw_source_name":"International Joint Conference on Artificial Intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7097884708","https://openalex.org/W2165848869","https://openalex.org/W1495119799","https://openalex.org/W2154079218","https://openalex.org/W2131015148","https://openalex.org/W7095132768","https://openalex.org/W7099775524","https://openalex.org/W2038327598","https://openalex.org/W2161769160","https://openalex.org/W2031589342"],"abstract_inverted_index":{"In":[0],"this":[1,49],"paper":[2],"we":[3],"present":[4],"a":[5,29,45,106,116],"probabilistic":[6,30],"approach":[7],"for":[8,74,84],"mobile":[9],"robot":[10,98,117],"localisation":[11],"using":[12],"an":[13],"incomplete":[14,59],"topological":[15,61],"world":[16,62],"model.":[17],"The":[18,91],"method":[19,70],"uses":[20],"multi--hypothesis":[21],"Kalman":[22],"filter":[23],"based":[24,56],"pose":[25,41,86,108,114,131,141],"tracking":[26,132],"combined":[27],"with":[28,118],"formulation":[31],"of":[32,93,115,137],"hypothesis":[33],"correctness":[34],"to":[35,79,120],"on--line":[36],"generate":[37],"and":[38,60],"track":[39],"Gaussian":[40],"hypotheses.":[42],"Apart":[43],"from":[44,102,129],"lower":[46],"computational":[47],"complexity,":[48],"has":[50],"the":[51,69,75,81,85,112,130,139],"advantage":[52],"over":[53],"traditional":[54],"grid":[55],"methods":[57],"that":[58,100,136],"model":[63],"information":[64,82],"can":[65],"be":[66],"utilised.":[67],"Furthermore,":[68],"generates":[71],"movement":[72],"commands":[73],"platform":[76],"in":[77],"order":[78],"optimise":[80],"gathering":[83],"estimation":[87],"process.":[88],"1":[89,109],"Introduction":[90],"problem":[92,133],"global":[94,122],"localisation---or":[95],"\"the":[96],"kidnapped":[97],"problem\"---is":[99],"of,":[101],"little":[103],"or":[104],"no":[105],"priori":[107],"information,":[110],"estimating":[111],"correct":[113],"respect":[119],"some":[121],"reference":[123],"frame.":[124],"This":[125],"is":[126,135],"fundamentally":[127],"different":[128],"which":[134],"keeping":[138],"robot's":[140],"est...":[142]},"counts_by_year":[],"updated_date":"2026-09-12T09:15:50.089291","created_date":"2019-05-29T00:00:00"}
