{"id":"https://openalex.org/W3004758837","doi":"https://doi.org/10.1109/icar46387.2019.8981632","title":"Model-based Dynamic Pose Graph SLAM in Unstructured Dynamic Environments","display_name":"Model-based Dynamic Pose Graph SLAM in Unstructured Dynamic Environments","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3004758837","doi":"https://doi.org/10.1109/icar46387.2019.8981632","mag":"3004758837"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","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/A5026564526","display_name":"Amy Deeb","orcid":"https://orcid.org/0000-0002-7367-2604"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"A. Deeb","raw_affiliation_strings":["Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","Mechanical Engineering Dept., Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Mechanical Engineering Dept., Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032455915","display_name":"Mae Seto","orcid":"https://orcid.org/0000-0002-7835-981X"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. L. Seto","raw_affiliation_strings":["Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","Mechanical Engineering Dept., Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Mechanical Engineering Dept., Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065758992","display_name":"Ya\u2010Jun Pan","orcid":"https://orcid.org/0000-0002-8700-0956"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Y.J. Pan","raw_affiliation_strings":["Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","Mechanical Engineering Dept., Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University,Mechanical Engineering Dept.,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Mechanical Engineering Dept., Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026564526"],"corresponding_institution_ids":["https://openalex.org/I129902397"],"apc_list":null,"apc_paid":null,"fwci":0.7934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81607947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"123","last_page":"128"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/kinematics","display_name":"Kinematics","score":0.7328176498413086},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7230401039123535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6944922804832458},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5615794658660889},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5467031598091125},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5255146026611328},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.47993046045303345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41492918133735657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4078022241592407},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4023386836051941},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36135268211364746},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21473035216331482},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13090574741363525}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7328176498413086},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7230401039123535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6944922804832458},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5615794658660889},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5467031598091125},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5255146026611328},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.47993046045303345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41492918133735657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4078022241592407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4023386836051941},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36135268211364746},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21473035216331482},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13090574741363525},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar46387.2019.8981632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1489258026","https://openalex.org/W1501966803","https://openalex.org/W1994591690","https://openalex.org/W2080486046","https://openalex.org/W2125188427","https://openalex.org/W2127578024","https://openalex.org/W2137052305","https://openalex.org/W2146881125","https://openalex.org/W2567948266","https://openalex.org/W2777964604","https://openalex.org/W4388475847","https://openalex.org/W6670451990"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2026924879","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1968481813","https://openalex.org/W2620829895","https://openalex.org/W1581933381"],"abstract_inverted_index":{"Navigation":[0],"in":[1,31,126],"dynamic":[2,71,160,175,178],"environments":[3,34,134],"is":[4,73,98,113],"a":[5,55,77,103,136,181],"challenge":[6],"for":[7,135,170],"autonomous":[8],"vehicles":[9,23],"operating":[10],"without":[11],"prior":[12],"maps":[13],"or":[14,89],"global":[15],"position":[16],"references.":[17],"This":[18],"poses":[19],"high":[20],"risk":[21],"to":[22,64,75,100,115,119,177],"that":[24],"perform":[25],"scientific":[26],"studies":[27],"and":[28,50,128,131,153],"monitoring":[29],"missions":[30],"marine":[32],"Arctic":[33],"characterized":[35],"by":[36],"slowly":[37],"moving":[38],"sea":[39],"ice":[40],"with":[41,157,180],"few":[42],"truly":[43],"static":[44,56],"landmarks.":[45],"Whereas":[46],"mature":[47],"simultaneous":[48],"localization":[49],"mapping":[51],"(SLAM)":[52],"approaches":[53],"assume":[54],"environment,":[57],"this":[58],"work":[59],"extends":[60],"pose":[61],"graph":[62],"SLAM":[63,164],"spatiotemporally":[65],"evolving":[66],"environments.":[67],"A":[68],"novel":[69],"model-based":[70,159,174],"factor":[72],"proposed":[74],"capture":[76],"landmark's":[78],"state":[79,85,95],"transition":[80,96],"model":[81,97],"-":[82],"whether":[83],"the":[84,94,106,120,144,150,158,163,171],"be":[86,101],"kinematic,":[87],"appearance":[88],"otherwise.":[90],"The":[91],"structure":[92],"of":[93,146,149,173],"assumed":[99],"known":[102],"priori,":[104],"while":[105],"parameters":[107],"are":[108,124,168],"estimated":[109],"on-line.":[110],"Expectation":[111],"maximization":[112],"used":[114],"avoid":[116],"adding":[117],"variables":[118],"graph.":[121],"Proof-of-concept":[122],"results":[123,142,167],"shown":[125],"small-":[127],"medium-scale":[129],"simulation,":[130],"small-scale":[132],"laboratory":[133,140],"small":[137],"quadrotor.":[138],"Preliminary":[139],"validation":[141],"shows":[143],"effect":[145],"mechanical":[147],"limitations":[148],"quadrotor":[151],"platform":[152],"increased":[154],"uncertainties":[155],"associated":[156],"factors":[161,176],"on":[162],"estimate.":[165],"Simulation":[166],"encouraging":[169],"application":[172],"landmarks":[179],"constant-velocity":[182],"kinematic":[183],"model.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
