{"id":"https://openalex.org/W2102233102","doi":"https://doi.org/10.1109/icra.2012.6225356","title":"Fully distributed scalable smoothing and mapping with robust multi-robot data association","display_name":"Fully distributed scalable smoothing and mapping with robust multi-robot data association","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2102233102","doi":"https://doi.org/10.1109/icra.2012.6225356","mag":"2102233102"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/f5d5de71-2cfa-49b8-8a0c-a4882136f62d/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020714034","display_name":"Alexander Cunningham","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alexander Cunningham","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology, Atlanta, USA]"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology, Atlanta, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090063396","display_name":"Kai M. Wurm","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai M. Wurm","raw_affiliation_strings":["University of Freiburg, Freiburg im Breisgau, Germany","Univ of Freiburg (Germany)"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Univ of Freiburg (Germany)","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["University of Freiburg, Freiburg im Breisgau, Germany","Univ of Freiburg (Germany)"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Univ of Freiburg (Germany)","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology, Atlanta, USA]"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology, Atlanta, USA]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020714034"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":246.4708,"has_fulltext":true,"cited_by_count":94,"citation_normalized_percentile":{"value":0.99963976,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1093","last_page":"1100"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976999759674072,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7359907031059265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7196003198623657},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6867617964744568},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6621334552764893},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.583644449710846},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.554050624370575},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.5477126240730286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5393964648246765},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.4760691523551941},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46208760142326355},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46100208163261414},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3837103247642517},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3221978545188904},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.09431064128875732}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7359907031059265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7196003198623657},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6867617964744568},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6621334552764893},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.583644449710846},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.554050624370575},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.5477126240730286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5393964648246765},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.4760691523551941},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46208760142326355},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46100208163261414},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3837103247642517},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3221978545188904},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.09431064128875732},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/44686","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/44686","pdf_url":"http://repository.gatech.edu/bitstreams/f5d5de71-2cfa-49b8-8a0c-a4882136f62d/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":{"id":"pmh:oai:smartech.gatech.edu:1853/44686","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/44686","pdf_url":"http://repository.gatech.edu/bitstreams/f5d5de71-2cfa-49b8-8a0c-a4882136f62d/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2102233102.pdf","grobid_xml":"https://content.openalex.org/works/W2102233102.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1964591239","https://openalex.org/W1974213704","https://openalex.org/W2011897632","https://openalex.org/W2064169939","https://openalex.org/W2084781700","https://openalex.org/W2085261163","https://openalex.org/W2106199912","https://openalex.org/W2107402720","https://openalex.org/W2113404170","https://openalex.org/W2116516211","https://openalex.org/W2119538218","https://openalex.org/W2125543527","https://openalex.org/W2127578024","https://openalex.org/W2129412583","https://openalex.org/W2130418717","https://openalex.org/W2137052305","https://openalex.org/W2170049866","https://openalex.org/W2170229019","https://openalex.org/W2293984849","https://openalex.org/W2545834714","https://openalex.org/W4238916604","https://openalex.org/W6653413292","https://openalex.org/W6671795154","https://openalex.org/W6697369322","https://openalex.org/W6729099241"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W3012182724","https://openalex.org/W2115876589","https://openalex.org/W1988708904","https://openalex.org/W2091196744","https://openalex.org/W3083084699","https://openalex.org/W2039208430","https://openalex.org/W356082227"],"abstract_inverted_index":{"In":[0],"this":[1,84],"paper":[2],"we":[3],"focus":[4],"on":[5],"the":[6,39,55,71,104,107],"multi-robot":[7,16],"perception":[8],"problem,":[9],"and":[10,48,75],"present":[11],"an":[12],"experimentally":[13],"validated":[14],"end-to-end":[15],"mapping":[17],"framework,":[18],"enabling":[19],"individual":[20,29],"robots":[21],"in":[22,97],"a":[23,45,65,98],"team":[24],"to":[25],"see":[26],"beyond":[27],"their":[28],"sensor":[30],"horizons.":[31],"The":[32],"inference":[33,49],"part":[34],"of":[35,58,77,80,106],"our":[36],"system":[37,85],"is":[38,64],"DDF-SAM":[40],"algorithm":[41],"[1],":[42],"which":[43],"provides":[44],"decentralized":[46],"communication":[47],"scheme,":[50],"but":[51],"did":[52],"not":[53],"address":[54],"crucial":[56],"issue":[57],"data":[59,73,88],"association.":[60],"One":[61],"key":[62],"contribution":[63],"novel,":[66],"RANSAC-based,":[67],"approach":[68],"for":[69],"performing":[70],"between-robot":[72],"associations":[74],"initialization":[76],"relative":[78],"frames":[79],"reference.":[81],"We":[82],"demonstrate":[83],"with":[86],"both":[87],"collected":[89],"from":[90],"real":[91],"robot":[92],"experiments,":[93],"as":[94,96],"well":[95],"large":[99],"scale":[100],"simulated":[101],"experiment":[102],"demonstrating":[103],"scalability":[105],"proposed":[108],"approach.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
