{"id":"https://openalex.org/W2906714304","doi":"https://doi.org/10.1109/icarcv.2018.8581384","title":"Stochastic Cloning and Smoothing for Fusion of Multiple Relative and Absolute Measurements for Localization and Mapping","display_name":"Stochastic Cloning and Smoothing for Fusion of Multiple Relative and Absolute Measurements for Localization and Mapping","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2906714304","doi":"https://doi.org/10.1109/icarcv.2018.8581384","mag":"2906714304"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-537697.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048735168","display_name":"Thomas Emter","orcid":"https://orcid.org/0000-0002-0915-9654"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Thomas Emter","raw_affiliation_strings":["Fraunhofer Institute for Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059340994","display_name":"Janko Petereit","orcid":"https://orcid.org/0000-0003-4715-8908"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janko Petereit","raw_affiliation_strings":["Fraunhofer Institute for Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210111500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048735168"],"corresponding_institution_ids":["https://openalex.org/I4210111500"],"apc_list":null,"apc_paid":null,"fwci":2.2179,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8930307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"27","issue":null,"first_page":"1508","last_page":"1513"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9962999820709229,"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/odometry","display_name":"Odometry","score":0.7803535461425781},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.772892951965332},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6392998695373535},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6278917193412781},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6224974393844604},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6113250851631165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6018469929695129},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5887815356254578},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5860608816146851},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5658425688743591},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5378050208091736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4995450973510742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36242738366127014}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7803535461425781},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.772892951965332},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6392998695373535},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6278917193412781},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6224974393844604},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6113250851631165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6018469929695129},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5887815356254578},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5860608816146851},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5658425688743591},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5378050208091736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4995450973510742},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36242738366127014},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icarcv.2018.8581384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-537697","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-537697.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"Fraunhofer IOSB","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/404177","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/404177","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-537697","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-537697.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"Fraunhofer IOSB","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W88520345","https://openalex.org/W1604679212","https://openalex.org/W1638159426","https://openalex.org/W1650975994","https://openalex.org/W1967740178","https://openalex.org/W1980395864","https://openalex.org/W2074899792","https://openalex.org/W2087230138","https://openalex.org/W2112788346","https://openalex.org/W2119851068","https://openalex.org/W2127752689","https://openalex.org/W2128873520","https://openalex.org/W2134837751","https://openalex.org/W2165468899","https://openalex.org/W2171330332","https://openalex.org/W2295130602","https://openalex.org/W2626688628","https://openalex.org/W4230111632","https://openalex.org/W4232464081","https://openalex.org/W4241435768","https://openalex.org/W4249866455","https://openalex.org/W6672380919","https://openalex.org/W6888800626"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W2125308530","https://openalex.org/W3123982513","https://openalex.org/W2034836143","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W1541079531"],"abstract_inverted_index":{"A":[0,90],"mobile":[1,88],"robot":[2],"is":[3,36,99,112],"reliant":[4],"on":[5],"precise":[6],"and":[7,10,56,79,85,97,118,130],"robust":[8,102],"localization":[9,84,117],"mapping":[11,86,119],"for":[12,74,83,101],"autonomous":[13],"navigation.":[14],"For":[15],"this":[16],"purpose,":[17],"sensor":[18,28,121],"fusion":[19,72,110],"techniques":[20],"are":[21],"employed":[22],"to":[23,40,114],"combine":[24],"measurements":[25,82],"of":[26,77,87,104,133],"multiple":[27,45,80],"data":[29,122,134],"sources.":[30],"The":[31,108],"well-known":[32],"Extended":[33],"Kalman":[34],"filter":[35],"the":[37,52,66,75],"standard":[38],"approach":[39,92],"integrate":[41],"absolute":[42,78],"measurements;":[43],"however,":[44],"relative":[46,81,106],"measurements,":[47],"i.e.,":[48],"measured":[49],"differences":[50],"between":[51],"current":[53],"system":[54,59],"state":[55],"a":[57,71,126,136],"past":[58],"state,":[60],"cannot":[61],"be":[62],"directly":[63],"incorporated":[64],"into":[65],"filter.":[67],"This":[68],"paper":[69],"presents":[70],"algorithm":[73],"integration":[76],"robots.":[89],"novel":[91],"exploiting":[93],"concurrent":[94],"stochastic":[95],"cloning":[96],"smoothing":[98],"introduced":[100],"inclusion":[103],"additional":[105],"measurements.":[107],"proposed":[109],"method":[111],"applied":[113],"perform":[115],"simultaneous":[116],"with":[120],"from":[123,135],"an":[124],"IMU,":[125],"GPS,":[127],"wheel":[128],"odometry,":[129],"scan":[131],"matching":[132],"3D":[137],"LiDAR.":[138]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}