{"id":"https://openalex.org/W2583542422","doi":"https://doi.org/10.1109/icinfa.2016.7831873","title":"EKF-based simultaneous localization and mapping using laser corner-pattern matching","display_name":"EKF-based simultaneous localization and mapping using laser corner-pattern matching","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2583542422","doi":"https://doi.org/10.1109/icinfa.2016.7831873","mag":"2583542422"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7831873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5100707040","display_name":"Tae-Hyeong Kim","orcid":"https://orcid.org/0000-0003-2249-1229"},"institutions":[{"id":"https://openalex.org/I163753206","display_name":"Chungbuk National University","ror":"https://ror.org/02wnxgj78","country_code":"KR","type":"education","lineage":["https://openalex.org/I163753206"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Hyeong Kim","raw_affiliation_strings":["Department of Control and Robot Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Robot Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea","institution_ids":["https://openalex.org/I163753206"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046715205","display_name":"Tae-Hyoung Park","orcid":"https://orcid.org/0000-0002-3695-344X"},"institutions":[{"id":"https://openalex.org/I163753206","display_name":"Chungbuk National University","ror":"https://ror.org/02wnxgj78","country_code":"KR","type":"education","lineage":["https://openalex.org/I163753206"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Hyoung Park","raw_affiliation_strings":["Department of Electronics Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea","Department of Control and Robot Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea","institution_ids":["https://openalex.org/I163753206"]},{"raw_affiliation_string":"Department of Control and Robot Engineering, Chungbuk National University, Cheongju, Chungbuk, South Korea","institution_ids":["https://openalex.org/I163753206"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I163753206"],"apc_list":null,"apc_paid":null,"fwci":6.1388,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.95780524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"491","last_page":"497"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9955999851226807,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.9334595203399658},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8603149652481079},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.692240834236145},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6781654357910156},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6764322519302368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6402238607406616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6198767423629761},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.599008321762085},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5455113053321838},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4870941638946533},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4441837966442108},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2522226572036743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23305800557136536}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.9334595203399658},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8603149652481079},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.692240834236145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6781654357910156},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6764322519302368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6402238607406616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6198767423629761},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.599008321762085},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5455113053321838},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4870941638946533},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4441837966442108},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2522226572036743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23305800557136536},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2016.7831873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1964419466","https://openalex.org/W2054804336","https://openalex.org/W2055628656","https://openalex.org/W2060209694","https://openalex.org/W2060653311","https://openalex.org/W2076292910","https://openalex.org/W2100053656","https://openalex.org/W2115990511","https://openalex.org/W2127000148","https://openalex.org/W2144652450","https://openalex.org/W2145060371","https://openalex.org/W2159757680","https://openalex.org/W2162117114","https://openalex.org/W2168210109","https://openalex.org/W3017143921","https://openalex.org/W4250887681","https://openalex.org/W6683491918"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2005337052","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2583542422"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,70,112],"propose":[4],"an":[5,38],"extended":[6],"Kalman":[7],"filter":[8],"(EKF)-based":[9],"simultaneous":[10],"localization":[11],"and":[12,77,129],"mapping":[13],"(SLAM)":[14],"method":[15,50,123],"using":[16,48,75],"laser":[17],"corner-pattern":[18],"matching":[19,93],"for":[20,31],"mobile":[21,32,86],"robots.":[22,33],"SLAM":[23,47,67],"is":[24,40,90,98],"one":[25],"of":[26,54,62],"the":[27,36,44,52,60,85,105,109,121],"most":[28],"important":[29],"problems":[30],"To":[34,65,107],"solve":[35],"problem,":[37],"EKF":[39],"often":[41],"used.":[42],"However,":[43],"existing":[45],"EKF-based":[46],"landmarks":[49],"has":[51],"disadvantage":[53],"increased":[55],"computation":[56,68,131],"time,":[57,69],"depending":[58],"on":[59],"number":[61],"corner":[63,73,79,83],"points.":[64,80],"improve":[66],"produce":[71],"a":[72,101],"pattern":[74],"classified":[76],"detected":[78],"After":[81],"producing":[82],"patterns,":[84],"robot's":[87],"global":[88],"position":[89,97],"estimated":[91,96],"by":[92],"them.":[94],"The":[95],"used":[99],"as":[100],"measurement":[102],"model":[103],"in":[104,115],"EKF.":[106],"evaluate":[108],"proposed":[110,122],"method,":[111],"performed":[113],"experiments":[114],"indoor":[116],"environments.":[117],"Experimental":[118],"results":[119],"from":[120],"show":[124],"that":[125],"it":[126],"maintains":[127],"accuracy":[128],"decreases":[130],"time.":[132]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
