{"id":"https://openalex.org/W2981096593","doi":"https://doi.org/10.1109/aim.2019.8868652","title":"An Improved Observation Model for Monte-Carlo Localization Integrated with Reliable Reflector Prediction","display_name":"An Improved Observation Model for Monte-Carlo Localization Integrated with Reliable Reflector Prediction","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981096593","doi":"https://doi.org/10.1109/aim.2019.8868652","mag":"2981096593"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5100357010","display_name":"Gen Li","orcid":"https://orcid.org/0000-0001-7511-7308"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gen Li","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670645","display_name":"Jie Meng","orcid":"https://orcid.org/0000-0002-4485-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Meng","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014022622","display_name":"Yuanlong Xie","orcid":"https://orcid.org/0000-0003-1158-1587"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlong Xie","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395708","display_name":"Xiaolong Zhang","orcid":"https://orcid.org/0000-0003-2808-1220"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838263","display_name":"Liquan Jiang","orcid":"https://orcid.org/0000-0002-7203-5953"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Jiang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058958587","display_name":"Yu Huang","orcid":"https://orcid.org/0000-0002-9360-0843"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Huang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":16.5619,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98496054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"972","last_page":"977"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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/monte-carlo-method","display_name":"Monte Carlo method","score":0.8068807125091553},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.7511129379272461},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7176780104637146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689881443977356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5721670389175415},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5634685158729553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5435663461685181},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5391535758972168},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5220767855644226},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4608355164527893},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.4497143030166626},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.42987293004989624},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33951446413993835},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.32734379172325134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.109262615442276}],"concepts":[{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.8068807125091553},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.7511129379272461},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7176780104637146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689881443977356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5721670389175415},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5634685158729553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5435663461685181},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5391535758972168},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5220767855644226},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4608355164527893},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.4497143030166626},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.42987293004989624},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33951446413993835},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.32734379172325134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.109262615442276},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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":12,"referenced_works":["https://openalex.org/W2033938800","https://openalex.org/W2049954099","https://openalex.org/W2069197722","https://openalex.org/W2095469618","https://openalex.org/W2095498779","https://openalex.org/W2096928959","https://openalex.org/W2119348502","https://openalex.org/W2125838338","https://openalex.org/W2127387610","https://openalex.org/W2159477781","https://openalex.org/W2160584648","https://openalex.org/W2411093439"],"related_works":["https://openalex.org/W2142338363","https://openalex.org/W1577509784","https://openalex.org/W3103916248","https://openalex.org/W3004220299","https://openalex.org/W2146873086","https://openalex.org/W2539990421","https://openalex.org/W1986073206","https://openalex.org/W1969934852","https://openalex.org/W2162539792","https://openalex.org/W2804353729"],"abstract_inverted_index":{"Robust":[0],"and":[1,28,89,101,154],"reliable":[2,60],"localization":[3,24,51,58,131,164],"is":[4,25,76,133,145],"a":[5,26,79,97,102,124],"fundamental":[6],"prerequisite":[7],"for":[8,49],"many":[9,19],"applications":[10],"of":[11,34,57,87,114,142],"mobile":[12],"robots":[13],"which":[14,53,83],"can":[15,36],"be":[16],"achieved":[17],"in":[18,63,147,166],"ways.":[20],"Among":[21],"them,":[22],"landmark-based":[23],"proven":[27],"practical":[29],"technique.":[30],"However,":[31],"incorrect":[32,69],"detection":[33],"landmarks":[35],"seriously":[37],"affect":[38],"the":[39,55,64,84,90,143,155,163,167],"positioning":[40],"result.":[41],"This":[42,72],"paper":[43],"presents":[44],"an":[45],"improved":[46,73,120],"observation":[47,74,105,121,138,160],"model":[48,75,106,161],"Monte-Carlo":[50,130],"(MCL),":[52],"improves":[54,162],"robustness":[56],"by":[59,68],"reflector":[61,98,128],"prediction":[62],"ambiguous":[65,168],"environments":[66],"caused":[67],"reflectors":[70],"detection.":[71],"based":[77,117,135],"on":[78,118,136],"Bayesian":[80],"network":[81],"into":[82],"reflective":[85],"intensity":[86,104],"LIDAR":[88],"labeled":[91],"grid-map":[92],"are":[93,107],"considered.":[94],"And":[95],"then,":[96],"probability":[99],"field":[100],"learned":[103],"proposed":[108],"to":[109],"accomplish":[110],"fast":[111],"probabilistic":[112],"inference":[113],"robot":[115,153],"pose":[116],"our":[119,137,151,159],"mode.":[122],"Also,":[123],"variant":[125],"MCL,":[126],"called":[127],"prediction-based":[129],"(RP-MCL)":[132],"realized":[134],"model.":[139],"The":[140],"effectiveness":[141],"RP-MCL":[144],"verified":[146],"real-world":[148],"scenarios":[149],"using":[150],"self-developed":[152],"results":[156],"demonstrate":[157],"that":[158],"performance":[165],"environments.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}