{"id":"https://openalex.org/W1983295747","doi":"https://doi.org/10.1017/s0263574711000701","title":"High-accuracy global localization filter for three-dimensional environments","display_name":"High-accuracy global localization filter for three-dimensional environments","publication_year":2011,"publication_date":"2011-07-11","ids":{"openalex":"https://openalex.org/W1983295747","doi":"https://doi.org/10.1017/s0263574711000701","mag":"1983295747"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574711000701","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574711000701","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/21BCD2B50DB0DEAE45E54E509DA4CDE2/S0263574711000701a.pdf/div-class-title-high-accuracy-global-localization-filter-for-three-dimensional-environments-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/21BCD2B50DB0DEAE45E54E509DA4CDE2/S0263574711000701a.pdf/div-class-title-high-accuracy-global-localization-filter-for-three-dimensional-environments-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103057835","display_name":"Fernando Mart\u00edn","orcid":"https://orcid.org/0000-0001-9508-4806"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Fernando Mart\u00edn","raw_affiliation_strings":["Carlos III University, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Carlos III University, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["Carlos III University, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Carlos III University, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030540686","display_name":"Santiago Garrido","orcid":"https://orcid.org/0000-0002-3838-8421"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Santiago Garrido","raw_affiliation_strings":["Carlos III University, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Carlos III University, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007484595","display_name":"Dolores Blanco","orcid":"https://orcid.org/0000-0001-6300-5165"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dolores Blanco","raw_affiliation_strings":["Carlos III University, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Carlos III University, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103057835"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":47.1966,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.99389934,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"3","first_page":"363","last_page":"378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9965999722480774,"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":0.7106492519378662},{"id":"https://openalex.org/keywords/thresholding","display_name":"Thresholding","score":0.6796302795410156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6560415625572205},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6456319093704224},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6044527292251587},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5735874176025391},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5670579075813293},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.48655882477760315},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4719369113445282},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4602234959602356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40436044335365295},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3171180784702301},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10598552227020264}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7106492519378662},{"id":"https://openalex.org/C191178318","wikidata":"https://www.wikidata.org/wiki/Q2256906","display_name":"Thresholding","level":3,"score":0.6796302795410156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6560415625572205},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6456319093704224},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6044527292251587},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5735874176025391},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5670579075813293},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.48655882477760315},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4719369113445282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4602234959602356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40436044335365295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3171180784702301},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10598552227020264},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574711000701","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574711000701","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/21BCD2B50DB0DEAE45E54E509DA4CDE2/S0263574711000701a.pdf/div-class-title-high-accuracy-global-localization-filter-for-three-dimensional-environments-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:e-archivo.uc3m.es:10016/18971","is_oa":true,"landing_page_url":"http://hdl.handle.net/10016/18971","pdf_url":null,"source":{"id":"https://openalex.org/S4306400817","display_name":"e-Archivo (Carlos III University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I50357001","host_organization_name":"Universidad Carlos III de Madrid","host_organization_lineage":["https://openalex.org/I50357001"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1017/s0263574711000701","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574711000701","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/21BCD2B50DB0DEAE45E54E509DA4CDE2/S0263574711000701a.pdf/div-class-title-high-accuracy-global-localization-filter-for-three-dimensional-environments-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1983295747.pdf","grobid_xml":"https://content.openalex.org/works/W1983295747.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1554266779","https://openalex.org/W1580721220","https://openalex.org/W1595159159","https://openalex.org/W1601378499","https://openalex.org/W1970978369","https://openalex.org/W2003363871","https://openalex.org/W2007079389","https://openalex.org/W2017060739","https://openalex.org/W2071158641","https://openalex.org/W2116191958","https://openalex.org/W2129950897","https://openalex.org/W2148876197","https://openalex.org/W2171414411","https://openalex.org/W2766373678","https://openalex.org/W3023540311","https://openalex.org/W3143823429","https://openalex.org/W4229669381"],"related_works":["https://openalex.org/W2116298349","https://openalex.org/W2737953495","https://openalex.org/W2107952443","https://openalex.org/W2134864252","https://openalex.org/W2058063222","https://openalex.org/W2002867377","https://openalex.org/W2734306012","https://openalex.org/W2096344081","https://openalex.org/W4284893475","https://openalex.org/W1605248340"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,57,87],"localization":[2,90],"problem":[3,47],"in":[4,17,48,95,113],"mobile":[5],"robotics":[6],"can":[7],"be":[8],"defined":[9],"as":[10],"the":[11,14,27,99,105,108],"search":[12],"of":[13,107],"robot's":[15],"coordinates":[16],"a":[18,49],"known":[19],"environment.":[20],"If":[21],"there":[22],"is":[23,104],"no":[24],"information":[25],"about":[26,33],"initial":[28],"location,":[29],"we":[30,39],"are":[31],"talking":[32],"global":[34,89],"localization.":[35],"In":[36],"this":[37,46],"work,":[38],"have":[40],"developed":[41],"an":[42],"algorithm":[43],"that":[44,67],"solves":[45],"three-dimensional":[50],"(3D)":[51],"environment":[52],"using":[53],"evolutionary":[54],"computation":[55],"concepts.":[56],"method":[58],"has":[59,64,92],"been":[60,93],"called":[61],"RELF-3D":[62],"and":[63,72,75,84,98],"many":[65],"features":[66],"make":[68],"it":[69],"very":[70],"robust":[71],"reliable:":[73],"thresholding":[74],"discarding":[76],"mechanisms,":[77],"different":[78],"cost":[79],"functions,":[80],"effective":[81],"convergence":[82],"criteria,":[83],"so":[85],"on.":[86],"resulting":[88],"module":[91],"tested":[94],"numerous":[96],"experiments":[97],"most":[100],"important":[101],"improvement":[102],"obtained":[103],"accuracy":[106],"method,":[109],"allowing":[110],"its":[111],"application":[112],"manipulation":[114],"tasks.":[115]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}