{"id":"https://openalex.org/W2049096104","doi":"https://doi.org/10.1108/ir-07-2013-378","title":"Rao-Blackwellized visual SLAM for small UAVs with vehicle model partition","display_name":"Rao-Blackwellized visual SLAM for small UAVs with vehicle model partition","publication_year":2014,"publication_date":"2014-05-13","ids":{"openalex":"https://openalex.org/W2049096104","doi":"https://doi.org/10.1108/ir-07-2013-378","mag":"2049096104"},"language":"en","primary_location":{"id":"doi:10.1108/ir-07-2013-378","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2013-378","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianmiao Wang","raw_affiliation_strings":["Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005147189","display_name":"Chaolei Wang","orcid":"https://orcid.org/0000-0003-0205-1381"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaolei Wang","raw_affiliation_strings":["Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029641559","display_name":"Jianhong Liang","orcid":"https://orcid.org/0000-0002-7692-3800"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhong Liang","raw_affiliation_strings":["Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101532927","display_name":"Yicheng Zhang","orcid":"https://orcid.org/0000-0003-3643-9384"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yicheng Zhang","raw_affiliation_strings":["Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057674506"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":3.2391,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91560756,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"41","issue":"3","first_page":"266","last_page":"274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8605116605758667},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.8154953718185425},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7242771983146667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5714884400367737},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5328621864318848},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5304567217826843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5198524594306946},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.519485592842102},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.47242271900177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28381553292274475},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13515311479568481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10732629895210266}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8605116605758667},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.8154953718185425},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7242771983146667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5714884400367737},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5328621864318848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5304567217826843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5198524594306946},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.519485592842102},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.47242271900177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28381553292274475},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13515311479568481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10732629895210266},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-07-2013-378","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2013-378","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W839964369","https://openalex.org/W1500855289","https://openalex.org/W1964117447","https://openalex.org/W1967394805","https://openalex.org/W1996361697","https://openalex.org/W2047325543","https://openalex.org/W2047598977","https://openalex.org/W2058988630","https://openalex.org/W2059939451","https://openalex.org/W2068128731","https://openalex.org/W2077841660","https://openalex.org/W2083112818","https://openalex.org/W2098307586","https://openalex.org/W2103393159","https://openalex.org/W2110684306","https://openalex.org/W2118428504","https://openalex.org/W2122283594","https://openalex.org/W2132453268","https://openalex.org/W2135661092","https://openalex.org/W2145522602","https://openalex.org/W2148061324","https://openalex.org/W2148820580","https://openalex.org/W2150632181","https://openalex.org/W2151103935","https://openalex.org/W2153605832","https://openalex.org/W2154422147","https://openalex.org/W2171846155","https://openalex.org/W2534854442"],"related_works":["https://openalex.org/W1535005230","https://openalex.org/W4383748483","https://openalex.org/W2980357211","https://openalex.org/W2086478527","https://openalex.org/W3003695190","https://openalex.org/W2352333192","https://openalex.org/W1511825028","https://openalex.org/W4283798740","https://openalex.org/W2121280386","https://openalex.org/W2121069978"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,31,109,154],"The":[2,79,155],"purpose":[3],"of":[4,24,48,139,158,168],"this":[5,57,140,159],"paper":[6,160],"is":[7,64,82,93,117,161],"to":[8,44,66,135],"present":[9],"a":[10,53,146],"Rao\u2013Blackwellized":[11,170],"particle":[12,91,126],"filter":[13,88,92],"(RBPF)":[14],"approach":[15,116],"for":[16,95,104,178],"the":[17,46,49,68,74,96,105,114,137,162,169],"visual":[18,171],"simultaneous":[19],"localization":[20],"and":[21,39,76,100,120,165],"mapping":[22],"(SLAM)":[23],"small":[25,179],"unmanned":[26],"aerial":[27],"vehicles":[28],"(UAVs).":[29],"Design/methodology/approach":[30],"Measurements":[32],"from":[33],"inertial":[34],"measurement":[35],"unit,":[36],"barometric":[37],"altimeter":[38],"monocular":[40],"camera":[41],"are":[42,103,131],"fused":[43],"estimate":[45],"state":[47,81,98],"vehicle":[50,69,175],"while":[51],"building":[52],"feature":[54],"map.":[55],"In":[56],"SLAM":[58,128,141,172],"framework,":[59],"an":[60,85],"extra":[61],"factorization":[62],"method":[63,142],"proposed":[65,115],"partition":[67,177],"model":[70,176],"into":[71],"subspaces":[72],"as":[73],"internal":[75,80],"external":[77,97],"states.":[78],"estimated":[83],"by":[84,143],"extended":[86],"Kalman":[87],"(EKF).":[89],"A":[90],"employed":[94],"estimation":[99],"parallel":[101],"EKFs":[102],"map":[106],"management.":[107],"Findings":[108],"Simulation":[110],"results":[111],"indicate":[112],"that":[113],"more":[118],"stable":[119],"accurate":[121],"than":[122],"other":[123],"existing":[124],"marginalized":[125],"filter-based":[127],"algorithms.":[129],"Experiments":[130],"also":[132],"carried":[133],"out":[134],"verify":[136],"effectiveness":[138],"comparing":[144],"with":[145,174],"referential":[147],"global":[148],"positioning":[149],"system/inertial":[150],"navigation":[151],"system.":[152],"Originality/value":[153],"main":[156],"contribution":[157],"theoretical":[163],"derivation":[164],"experimental":[166],"application":[167],"algorithm":[173],"UAVs.":[180]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}