{"id":"https://openalex.org/W2073831229","doi":"https://doi.org/10.1109/icarcv.2014.7064612","title":"Efficient implementation of the graph-based SLAM on an OMAP processor","display_name":"Efficient implementation of the graph-based SLAM on an OMAP processor","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2073831229","doi":"https://doi.org/10.1109/icarcv.2014.7064612","mag":"2073831229"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","raw_type":"proceedings-article"},"type":"preprint","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/A5077256344","display_name":"Abdelhamid Dine","orcid":null},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210089144","display_name":"Centre National pour la Recherche Scientifique et Technique (CNRST)","ror":"https://ror.org/00675rp98","country_code":"MA","type":"government","lineage":["https://openalex.org/I4210089144"]}],"countries":["FR","MA"],"is_corresponding":true,"raw_author_name":"Abdelhamid Dine","raw_affiliation_strings":["Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France"],"affiliations":[{"raw_affiliation_string":"Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","institution_ids":["https://openalex.org/I4210089144","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France","institution_ids":["https://openalex.org/I102197404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007627115","display_name":"Abdelhafid Elouardi","orcid":"https://orcid.org/0000-0003-3665-2185"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210089144","display_name":"Centre National pour la Recherche Scientifique et Technique (CNRST)","ror":"https://ror.org/00675rp98","country_code":"MA","type":"government","lineage":["https://openalex.org/I4210089144"]}],"countries":["FR","MA"],"is_corresponding":false,"raw_author_name":"Abdelhafid Elouardi","raw_affiliation_strings":["Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France"],"affiliations":[{"raw_affiliation_string":"Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","institution_ids":["https://openalex.org/I4210089144","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France","institution_ids":["https://openalex.org/I102197404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053262048","display_name":"Bastien Vincke","orcid":"https://orcid.org/0000-0002-4770-4238"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210089144","display_name":"Centre National pour la Recherche Scientifique et Technique (CNRST)","ror":"https://ror.org/00675rp98","country_code":"MA","type":"government","lineage":["https://openalex.org/I4210089144"]}],"countries":["FR","MA"],"is_corresponding":false,"raw_author_name":"Bastien Vincke","raw_affiliation_strings":["Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France"],"affiliations":[{"raw_affiliation_string":"Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","institution_ids":["https://openalex.org/I4210089144","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France","institution_ids":["https://openalex.org/I102197404"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030434651","display_name":"Samir Bouaziz","orcid":"https://orcid.org/0000-0002-6768-1723"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210089144","display_name":"Centre National pour la Recherche Scientifique et Technique (CNRST)","ror":"https://ror.org/00675rp98","country_code":"MA","type":"government","lineage":["https://openalex.org/I4210089144"]}],"countries":["FR","MA"],"is_corresponding":false,"raw_author_name":"Samir Bouaziz","raw_affiliation_strings":["Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France"],"affiliations":[{"raw_affiliation_string":"Institut d'Electronique Fondamentale Universit\u00e9 Paris-Sud, Centre National de la Recherche Scientifique(CNRS), Orsay, FRANCE","institution_ids":["https://openalex.org/I4210089144","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institut d'Electronique Fondamentale, Universit\u00e9 Paris sud, 91405 Orsay, France","institution_ids":["https://openalex.org/I102197404"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077256344"],"corresponding_institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210089144"],"apc_list":null,"apc_paid":null,"fwci":6.5949,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.9745368,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"110","issue":null,"first_page":"1935","last_page":"1940"},"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/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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8114951848983765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.799071729183197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6597974300384521},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6548517942428589},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5240355134010315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.405195415019989},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34080564975738525},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3094841241836548}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8114951848983765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.799071729183197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6597974300384521},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6548517942428589},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5240355134010315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.405195415019989},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34080564975738525},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3094841241836548},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2014.7064612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01696292v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01696292","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), Dec 2014, Singapore, Singapore. &#x27E8;10.1109/ICARCV.2014.7064612&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W25664821","https://openalex.org/W169439271","https://openalex.org/W1514975643","https://openalex.org/W1520511539","https://openalex.org/W1656165940","https://openalex.org/W2005389775","https://openalex.org/W2024908906","https://openalex.org/W2056458921","https://openalex.org/W2073968412","https://openalex.org/W2080823437","https://openalex.org/W2119605622","https://openalex.org/W2122386386","https://openalex.org/W2137052305","https://openalex.org/W2143864104","https://openalex.org/W2148820580","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2159412849","https://openalex.org/W6606837808","https://openalex.org/W6630971376","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4385801697","https://openalex.org/W4288626232","https://openalex.org/W2462185186","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"An":[0],"autonomous":[1],"robot":[2,19],"has":[3],"to":[4,20,41,83,91,102,121],"localize":[5,29],"itself":[6,31],"in":[7],"an":[8,25,51,61,73,78],"unknown":[9,26],"area.":[10],"Simultaneous":[11],"Localization":[12],"and":[13,28,43,77],"Mapping":[14],"(SLAM)":[15],"allows":[16],"for":[17],"a":[18,22,39],"build":[21],"map":[23],"of":[24,54,98,116,123],"environment":[27],"simultaneously":[30],"on":[32,60],"this":[33],"map.":[34],"Graph-based":[35],"SLAM":[36,46,59],"methods":[37],"use":[38],"graph":[40],"represent":[42],"solve":[44,84],"the":[45,55,85,92,99,104,113,117,124],"problem.":[47],"This":[48,70],"paper":[49],"presents":[50],"optimized":[52,74],"implementation":[53,71],"incremental":[56],"3D":[57],"graph-based":[58],"OMAP":[62],"architecture":[63,101],"used":[64],"as":[65],"open":[66],"multimedia":[67],"applications":[68],"platform.":[69],"uses":[72],"data":[75],"structure":[76],"efficient":[79],"memory":[80],"access":[81],"management":[82],"nonlinear":[86],"least":[87],"squares":[88],"problem":[89],"related":[90],"algorithm.":[93,105],"It":[94],"takes":[95],"also":[96],"advantage":[97],"multi-core":[100],"parallelize":[103],"To":[106],"evaluate":[107,112],"our":[108],"implementation,":[109],"we":[110],"will":[111],"processing":[114],"times":[115],"implemented":[118],"algorithm":[119],"compared":[120],"those":[122],"well":[125],"known":[126],"framework":[127],"g":[128],"<sup":[129],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[130],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[131],"o.":[132]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
