{"id":"https://openalex.org/W3176306644","doi":"https://doi.org/10.1109/i2mtc50364.2021.9459876","title":"An Uncertainty-driven Analysis for Delayed Mapping SLAM","display_name":"An Uncertainty-driven Analysis for Delayed Mapping SLAM","publication_year":2021,"publication_date":"2021-05-17","ids":{"openalex":"https://openalex.org/W3176306644","doi":"https://doi.org/10.1109/i2mtc50364.2021.9459876","mag":"3176306644"},"language":"en","primary_location":{"id":"doi:10.1109/i2mtc50364.2021.9459876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc50364.2021.9459876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11572/335120","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010479489","display_name":"Davide Dorigoni","orcid":null},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Davide Dorigoni","raw_affiliation_strings":["University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010479489"],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":4.1409,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94884933,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7445876002311707},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6889482736587524},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6823830008506775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6752171516418457},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6464425325393677},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.608845055103302},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5852168798446655},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5487892031669617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5220915079116821},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4643229842185974},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4533717632293701},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4344744086265564},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41553357243537903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.323017954826355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17108049988746643},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.15917637944221497},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1464119553565979}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7445876002311707},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6889482736587524},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6823830008506775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6752171516418457},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6464425325393677},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.608845055103302},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5852168798446655},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5487892031669617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5220915079116821},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4643229842185974},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4533717632293701},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4344744086265564},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41553357243537903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.323017954826355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17108049988746643},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.15917637944221497},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1464119553565979},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/i2mtc50364.2021.9459876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc50364.2021.9459876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/335120","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/335120","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unitn.it:11572/335120","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/335120","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1971591628","https://openalex.org/W2013285622","https://openalex.org/W2020617337","https://openalex.org/W2045514414","https://openalex.org/W2103393159","https://openalex.org/W2107859853","https://openalex.org/W2127578024","https://openalex.org/W2146881125","https://openalex.org/W2149621472","https://openalex.org/W2158098902","https://openalex.org/W2535547924","https://openalex.org/W2569720095","https://openalex.org/W2764048921","https://openalex.org/W2801240241","https://openalex.org/W2935189788","https://openalex.org/W2963600667","https://openalex.org/W3009329673","https://openalex.org/W3038167582","https://openalex.org/W3038306123","https://openalex.org/W3043075211","https://openalex.org/W3046316422","https://openalex.org/W3102327032","https://openalex.org/W6675456536"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W3126674423","https://openalex.org/W2005337052"],"abstract_inverted_index":{"This":[0],"papers":[1],"deals":[2],"with":[3,33,42],"the":[4,7,12,15,19,38,61,64,67,72,78,102],"analysis":[5,76],"of":[6,14,63,66],"delayed":[8,68],"SLAM":[9],"problem":[10],"from":[11],"perspective":[13],"uncertainties":[16],"involved":[17],"in":[18,28],"process.":[20],"We":[21,49],"consider":[22],"an":[23,29,51],"autonomous":[24],"mobile":[25],"robot":[26],"moving":[27],"environment":[30],"and":[31,41,58],"equipped":[32],"noisy":[34],"encoders,":[35],"used":[36],"for":[37,45,100],"ego-motion":[39],"reconstruction,":[40],"a":[43],"LIDAR":[44,80],"indoor":[46,98],"features":[47],"detection.":[48],"adopt":[50],"Extended":[52],"Kalman":[53],"Filter":[54],"(EKF)":[55],"based":[56],"solution":[57],"we":[59],"analyse":[60],"effect":[62],"length":[65],"measurement":[69],"window":[70],"on":[71,96],"system":[73],"uncertainties.":[74],"The":[75],"covers":[77],"standard":[79],"measurements,":[81],"but":[82],"it":[83],"is":[84],"also":[85],"extended":[86],"to":[87],"range-only":[88],"measurements.":[89],"Mont":[90],"Carlo":[91],"simulation":[92],"results":[93],"are":[94],"provided":[95],"synthetic":[97],"environments":[99],"both":[101],"cases.":[103]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}