{"id":"https://openalex.org/W2968932964","doi":"https://doi.org/10.1109/access.2019.2934995","title":"Intelligent Filter-Based SLAM for Mobile Robots With Improved Localization Performance","display_name":"Intelligent Filter-Based SLAM for Mobile Robots With Improved Localization Performance","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2968932964","doi":"https://doi.org/10.1109/access.2019.2934995","mag":"2968932964"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2934995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08795445.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08795445.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103242781","display_name":"Mingwei Lin","orcid":"https://orcid.org/0000-0002-8583-5896"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwei Lin","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8583-5896","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021494299","display_name":"Canjun Yang","orcid":"https://orcid.org/0000-0002-3712-0538"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Canjun Yang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101706831","display_name":"Dejun Li","orcid":"https://orcid.org/0000-0002-9034-4493"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dejun Li","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071266617","display_name":"Gengli Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gengli Zhou","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":21.5862,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98836644,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"113284","last_page":"113297"},"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/computer-science","display_name":"Computer science","score":0.6982914805412292},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6930182576179504},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6656020283699036},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6349428296089172},{"id":"https://openalex.org/keywords/resampling","display_name":"Resampling","score":0.6273046135902405},{"id":"https://openalex.org/keywords/square-root","display_name":"Square root","score":0.6256561279296875},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5384461879730225},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5383366942405701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5238614082336426},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5093799829483032},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.49365124106407166},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4629097580909729},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4502404034137726},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.44615015387535095},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43590760231018066},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.41887426376342773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41240814328193665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23755988478660583}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6982914805412292},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6930182576179504},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6656020283699036},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6349428296089172},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.6273046135902405},{"id":"https://openalex.org/C11577676","wikidata":"https://www.wikidata.org/wiki/Q134237","display_name":"Square root","level":2,"score":0.6256561279296875},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5384461879730225},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5383366942405701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5238614082336426},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5093799829483032},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.49365124106407166},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4629097580909729},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4502404034137726},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.44615015387535095},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43590760231018066},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.41887426376342773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41240814328193665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23755988478660583},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2934995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08795445.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e558e201090a4e38b704d16ba6a0f79f","is_oa":true,"landing_page_url":"https://doaj.org/article/e558e201090a4e38b704d16ba6a0f79f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 113284-113297 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2934995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08795445.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1021263114","display_name":null,"funder_award_id":"41676089","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2968932964.pdf","grobid_xml":"https://content.openalex.org/works/W2968932964.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1506647431","https://openalex.org/W1642248920","https://openalex.org/W1980158126","https://openalex.org/W2011754354","https://openalex.org/W2040196349","https://openalex.org/W2054091988","https://openalex.org/W2060977605","https://openalex.org/W2081829568","https://openalex.org/W2088031979","https://openalex.org/W2123487311","https://openalex.org/W2127578024","https://openalex.org/W2136818300","https://openalex.org/W2148820580","https://openalex.org/W2154202063","https://openalex.org/W2167667767","https://openalex.org/W2170558248","https://openalex.org/W2338471795","https://openalex.org/W2342664609","https://openalex.org/W2413971010","https://openalex.org/W2513592128","https://openalex.org/W2535547924","https://openalex.org/W2588697928","https://openalex.org/W2610780500","https://openalex.org/W2749546756","https://openalex.org/W2769873072","https://openalex.org/W2790092275","https://openalex.org/W2883819615","https://openalex.org/W2913357974","https://openalex.org/W3102327032","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W2372707641","https://openalex.org/W2138031790","https://openalex.org/W2353687059","https://openalex.org/W2410890952","https://openalex.org/W2168220076","https://openalex.org/W2133062384","https://openalex.org/W2047714300","https://openalex.org/W2162253570","https://openalex.org/W2418454769","https://openalex.org/W2360725115"],"abstract_inverted_index":{"Fast":[0],"simultaneous":[1],"localization":[2,38],"and":[3,32,82,95,111,124],"mapping":[4,83],"(FastSLAM)":[5],"is":[6,21,73,137],"one":[7],"of":[8,16,64,87,117,144],"the":[9,62,68,76,88,103,118,142,145],"most":[10],"popular":[11],"methods":[12],"for":[13,78],"autonomous":[14],"navigation":[15],"mobile":[17],"robots.":[18],"However,":[19],"FastSLAM":[20,45,122,131],"essentially":[22],"a":[23,134],"particle":[24,30],"filter":[25,65,72,112],"(PF)":[26],"that":[27,47,102,116],"suffers":[28],"from":[29],"impoverishment":[31],"degeneracy":[33],"problems.":[34],"To":[35],"improve":[36],"its":[37],"performance,":[39],"this":[40],"paper":[41],"proposes":[42],"an":[43,49],"improved":[44],"algorithm":[46,77],"contains":[48],"intelligent":[50],"bat-inspired":[51],"resampling":[52],"whose":[53],"iteration":[54],"times":[55],"can":[56],"be":[57],"adaptively":[58],"tuned":[59],"based":[60],"on":[61],"degree":[63],"diverging.":[66],"Additionally,":[67],"square":[69,119,127],"root":[70,120,128],"cubature":[71],"merged":[74],"into":[75],"better":[79,107],"proposal":[80],"distribution":[81],"results.":[84],"The":[85,98],"advantages":[86,143],"proposed":[89,104,146],"method":[90],"are":[91],"verified":[92],"by":[93],"simulation":[94],"dataset-based":[96],"tests.":[97],"test":[99],"result":[100],"demonstrates":[101],"IFastSLAM":[105],"has":[106],"accuracy,":[108],"computational":[109],"efficiency":[110],"consistency":[113],"compared":[114],"to":[115,139],"unscented":[121],"(SRUFastSLAM)":[123],"strong":[125],"tracking":[126],"central":[129],"difference":[130],"(STSRCDFastSLAM).":[132],"Finally,":[133],"pool":[135],"experiment":[136],"demonstrated":[138],"further":[140],"verify":[141],"algorithm.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
