{"id":"https://openalex.org/W2983739502","doi":"https://doi.org/10.1109/icca.2019.8899572","title":"Towards Utilizing Deep Uncertainty In Traditional SLAM","display_name":"Towards Utilizing Deep Uncertainty In Traditional SLAM","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2983739502","doi":"https://doi.org/10.1109/icca.2019.8899572","mag":"2983739502"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2019.8899572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","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/A5035767152","display_name":"Mahdi Abolfazli Esfahani","orcid":"https://orcid.org/0000-0002-0709-0534"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mahdi Abolfazli Esfahani","raw_affiliation_strings":["Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038637903","display_name":"Keyu Wu","orcid":"https://orcid.org/0000-0001-8493-0712"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Keyu Wu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical & Electronic Engineering,Singapore,50 Nanyang Avenue, 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"344","last_page":"349"},"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8077088594436646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7989745140075684},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6533187627792358},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6268742084503174},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5895206928253174},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5817785859107971},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5228244066238403},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5144086480140686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5032054781913757},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4848690927028656},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44610491394996643},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.332282692193985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2331571877002716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11064222455024719},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.057383716106414795}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8077088594436646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7989745140075684},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6533187627792358},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6268742084503174},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5895206928253174},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5817785859107971},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5228244066238403},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5144086480140686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5032054781913757},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4848690927028656},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44610491394996643},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.332282692193985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2331571877002716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11064222455024719},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.057383716106414795},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2019.8899572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W176729393","https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1677409904","https://openalex.org/W1867429401","https://openalex.org/W1970504153","https://openalex.org/W2071158641","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2124386111","https://openalex.org/W2535547924","https://openalex.org/W2560474170","https://openalex.org/W2754698656","https://openalex.org/W2768130891","https://openalex.org/W2808571300","https://openalex.org/W2888783857","https://openalex.org/W2897828525","https://openalex.org/W2934636458","https://openalex.org/W2951234442","https://openalex.org/W2952348863","https://openalex.org/W2962816904","https://openalex.org/W2963412495","https://openalex.org/W3102327032","https://openalex.org/W3106458387","https://openalex.org/W6607182440","https://openalex.org/W6637400245","https://openalex.org/W6639126518","https://openalex.org/W6685261749","https://openalex.org/W6730329805","https://openalex.org/W6755766815","https://openalex.org/W6755939869"],"related_works":["https://openalex.org/W3000097931","https://openalex.org/W2354322770","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W1537496349","https://openalex.org/W2379407973","https://openalex.org/W4243305035","https://openalex.org/W4386821976"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,13,19,74,91,98],"Simultaneous":[3],"Localization":[4],"and":[5,41,50,61,101],"Mapping":[6],"(SLAM)":[7],"systems":[8],"make":[9],"robots":[10],"behave":[11],"intelligently":[12],"different":[14],"situations.":[15],"However,":[16],"performing":[17],"well":[18],"dynamic":[20,56,75,99],"environments":[21,100],"requires":[22],"extraction":[23],"of":[24,31,58,65,105],"robust":[25,42,72,96],"features":[26,73,97],"from":[27],"the":[28,52,59,62,66,83,103],"static":[29],"context":[30],"consecutive":[32],"frames.":[33],"Deep":[34,47],"Learning,":[35],"nowadays,":[36],"helps":[37,68],"to":[38,86,94],"extract":[39,71],"meaningful":[40],"feature":[43],"representations.":[44],"Using":[45],"various":[46,88],"Learning":[48],"architectures":[49],"retrieving":[51],"uncertainty":[53],"information":[54],"concerning":[55],"objects":[57],"scene,":[60],"motion":[63,106],"flow":[64],"environment":[67],"traditional":[69,92],"SLAM":[70,93],"environments.":[76],"To":[77],"our":[78],"knowledge,":[79],"this":[80],"paper":[81,85],"is":[82],"first":[84],"fuse":[87],"deep":[89],"uncertainties":[90],"obtain":[95],"improve":[102],"accuracy":[104],"estimation":[107],"for":[108],"autonomous":[109],"vehicles.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}