{"id":"https://openalex.org/W2098725520","doi":"https://doi.org/10.1109/cdc.2009.5399721","title":"Simultaneous localization and sampled environment mapping","display_name":"Simultaneous localization and sampled environment mapping","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2098725520","doi":"https://doi.org/10.1109/cdc.2009.5399721","mag":"2098725520"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2009.5399721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5399721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5063905802","display_name":"Rongchuan Sun","orcid":"https://orcid.org/0000-0002-0890-9097"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongchuan Sun","raw_affiliation_strings":["Graduate School of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365257","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1684-8869"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102943351","display_name":"Yuechao Wang","orcid":"https://orcid.org/0009-0004-5846-6396"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuechao Wang","raw_affiliation_strings":["Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"6484","last_page":"6489"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7651549577713013},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7071328163146973},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6969393491744995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6740291118621826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6517125368118286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6068720817565918},{"id":"https://openalex.org/keywords/compact-space","display_name":"Compact space","score":0.5866273641586304},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.46829691529273987},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4436933994293213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43250152468681335},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40602660179138184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40045762062072754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2412169873714447}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7651549577713013},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7071328163146973},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6969393491744995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6740291118621826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517125368118286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6068720817565918},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.5866273641586304},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.46829691529273987},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4436933994293213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43250152468681335},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40602660179138184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40045762062072754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2412169873714447},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2009.5399721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5399721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.lsu.edu:ag_exst_pubs-1664","is_oa":false,"landing_page_url":"https://repository.lsu.edu/ag_exst_pubs/665","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4099999964237213,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1492912950","https://openalex.org/W1509463039","https://openalex.org/W1854144742","https://openalex.org/W1977464512","https://openalex.org/W2053225700","https://openalex.org/W2059681931","https://openalex.org/W2095553972","https://openalex.org/W2103393159","https://openalex.org/W2111295154","https://openalex.org/W2112793821","https://openalex.org/W2127578024","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2136165702","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2148916113","https://openalex.org/W2158505966","https://openalex.org/W2161666343","https://openalex.org/W2168210109","https://openalex.org/W2473083940","https://openalex.org/W4249188019","https://openalex.org/W6630343153","https://openalex.org/W6675456536","https://openalex.org/W6676506760","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W2617317427"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,73,120,123],"map":[3,30],"building":[4],"is":[5,25,103],"a":[6,29,38,59],"key":[7],"issue":[8],"to":[9,27,93,105],"ensure":[10],"the":[11,32,43,49,56,95,111,127],"mobile":[12],"robot":[13],"move":[14],"in":[15,51],"an":[16],"unknown":[17],"environment":[18,45,50,57,108],"autonomously.":[19],"A":[20,98],"hot":[21],"topic":[22],"of":[23,62,129],"SLAM":[24,40],"how":[26],"build":[28],"describing":[31],"complex":[33],"environment.":[34],"This":[35],"paper":[36],"presents":[37],"new":[39,88],"algorithm":[41],"using":[42],"sampled":[44],"map,":[46],"which":[47,90],"describes":[48],"detail,":[52],"rather":[53],"than":[54],"represent":[55],"with":[58,76],"small":[60],"number":[61],"geometric":[63,101],"parameters.":[64],"The":[65,113],"proposed":[66],"method":[67,99],"segments":[68],"measurements":[69],"into":[70],"primitive":[71],"objects":[72],"fits":[74],"them":[75],"implicit":[77],"polynomials.":[78],"Algebraic":[79],"distances":[80,83],"or":[81],"orthogonal":[82],"are":[84,91,117],"then":[85],"considered":[86],"as":[87],"measurements,":[89],"used":[92],"update":[94],"whole":[96],"state.":[97],"considering":[100],"constraints":[102],"presented":[104],"remove":[106],"redundant":[107],"samples":[109],"from":[110],"SEM.":[112],"algorithm's":[114],"main":[115],"merits":[116],"its":[118],"compactness":[119],"adaptability.":[121],"Simulation":[122],"experimental":[124],"results":[125],"demonstrate":[126],"efficiency":[128],"our":[130],"algorithm.":[131]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}