{"id":"https://openalex.org/W2168591574","doi":"https://doi.org/10.1109/acc.2003.1244062","title":"An odometry calibration method for mobile robots based on the least-squares technique","display_name":"An odometry calibration method for mobile robots based on the least-squares technique","publication_year":2004,"publication_date":"2004-01-23","ids":{"openalex":"https://openalex.org/W2168591574","doi":"https://doi.org/10.1109/acc.2003.1244062","mag":"2168591574"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2003.1244062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2003.1244062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 American Control Conference, 2003.","raw_type":"proceedings-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/A5030334035","display_name":"Gianluca Antonelli","orcid":"https://orcid.org/0000-0002-5511-0165"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"G. Antonelli","raw_affiliation_strings":["Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014696053","display_name":"S. Chiaverini","orcid":"https://orcid.org/0000-0002-7891-0122"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S. Chiaverini","raw_affiliation_strings":["Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031811091","display_name":"Giuseppe Fusco","orcid":"https://orcid.org/0000-0002-5104-1342"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Fusco","raw_affiliation_strings":["Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automazione, Elettromagnetismo, Universit\u00e0 degli Studi di Cassino, Cassino, FR, Italy","institution_ids":["https://openalex.org/I186995768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030334035"],"corresponding_institution_ids":["https://openalex.org/I186995768"],"apc_list":null,"apc_paid":null,"fwci":4.3462,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93935865,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"3429","last_page":"3434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8652524352073669},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6937518119812012},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6500521302223206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6460176110267639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638062596321106},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5879003405570984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5397831201553345},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.5242198705673218},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4978752136230469},{"id":"https://openalex.org/keywords/iteratively-reweighted-least-squares","display_name":"Iteratively reweighted least squares","score":0.48757070302963257},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4693775177001953},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.44884926080703735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23426032066345215},{"id":"https://openalex.org/keywords/total-least-squares","display_name":"Total least squares","score":0.22341015934944153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1575157344341278},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.09189784526824951}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8652524352073669},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6937518119812012},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6500521302223206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6460176110267639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638062596321106},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5879003405570984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5397831201553345},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.5242198705673218},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4978752136230469},{"id":"https://openalex.org/C126090379","wikidata":"https://www.wikidata.org/wiki/Q6094424","display_name":"Iteratively reweighted least squares","level":4,"score":0.48757070302963257},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4693775177001953},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.44884926080703735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23426032066345215},{"id":"https://openalex.org/C169241690","wikidata":"https://www.wikidata.org/wiki/Q7828122","display_name":"Total least squares","level":3,"score":0.22341015934944153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1575157344341278},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.09189784526824951},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2003.1244062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2003.1244062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 American Control Conference, 2003.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1638159426","https://openalex.org/W1836111396","https://openalex.org/W2100339372","https://openalex.org/W2102145772","https://openalex.org/W2119143623","https://openalex.org/W2150379453","https://openalex.org/W2154535059","https://openalex.org/W2163428043","https://openalex.org/W2164595491"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"A":[0],"method":[1],"for":[2],"odometry":[3],"calibration":[4],"of":[5,16,29,47],"unicycle-like":[6],"mobile":[7],"robots":[8],"is":[9,36],"presented":[10],"in":[11,25,51],"this":[12],"paper.":[13],"The":[14],"equations":[15],"motion":[17],"are":[18],"written":[19],"so":[20],"as":[21],"to":[22,39],"exploit":[23],"linearity":[24],"a":[26],"proper":[27],"set":[28],"unknown":[30],"parameters":[31],"and":[32],"the":[33,45,48,53],"least-squares":[34],"technique":[35,50],"then":[37],"applied":[38],"estimate":[40],"them.":[41],"Experimental":[42],"results":[43],"show":[44],"effectiveness":[46],"proposed":[49],"reducing":[52],"systematic":[54],"odometric":[55],"errors.":[56]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}