{"id":"https://openalex.org/W2099904692","doi":"https://doi.org/10.1109/icra.2013.6631247","title":"Terrain adaptive odometry for mobile skid-steer robots","display_name":"Terrain adaptive odometry for mobile skid-steer robots","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2099904692","doi":"https://doi.org/10.1109/icra.2013.6631247","mag":"2099904692"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","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/A5102857030","display_name":"Michal Rein\u0161tein","orcid":"https://orcid.org/0000-0003-1380-5935"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Michal Reinstein","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","Dept. of Cybern., Czech Tech. Univ. in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Dept. of Cybern., Czech Tech. Univ. in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064831473","display_name":"Vladim\u00edr Kubelka","orcid":"https://orcid.org/0000-0001-8393-9969"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vladimir Kubelka","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","Fac. of Electr. Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Fac. of Electr. Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007875599","display_name":"Karel Zimmermann","orcid":"https://orcid.org/0000-0002-8898-4512"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Karel Zimmermann","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","Dept. of Cybern., Czech Tech. Univ. in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Dept. of Cybern., Czech Tech. Univ. in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102857030"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":12.9927,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.98454742,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4706","last_page":"4711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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":0.998199999332428,"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":0.9968000054359436,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9652206897735596},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6959379315376282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.678104043006897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6532126665115356},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6136155724525452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5611173510551453},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5582543015480042},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5143893361091614},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.46145451068878174},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09627377986907959}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9652206897735596},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6959379315376282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.678104043006897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6532126665115356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6136155724525452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5611173510551453},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5582543015480042},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5143893361091614},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.46145451068878174},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09627377986907959},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1989433841","https://openalex.org/W1990214337","https://openalex.org/W1999510395","https://openalex.org/W2005772744","https://openalex.org/W2017977531","https://openalex.org/W2091556617","https://openalex.org/W2096301630","https://openalex.org/W2099098276","https://openalex.org/W2100406904","https://openalex.org/W2103755599","https://openalex.org/W2106296899","https://openalex.org/W2109968514","https://openalex.org/W2111182037","https://openalex.org/W2118146148","https://openalex.org/W2119492493","https://openalex.org/W2125842362","https://openalex.org/W2130196142","https://openalex.org/W2130291908","https://openalex.org/W2132365895","https://openalex.org/W2133587673","https://openalex.org/W2136134233","https://openalex.org/W2138430769","https://openalex.org/W2139986753","https://openalex.org/W2143802526","https://openalex.org/W2148014896","https://openalex.org/W2150364799","https://openalex.org/W2158305272","https://openalex.org/W2159568070","https://openalex.org/W2161266827","https://openalex.org/W2166220596","https://openalex.org/W2166380040","https://openalex.org/W2167819645","https://openalex.org/W2169823756","https://openalex.org/W2492294785","https://openalex.org/W2534097725","https://openalex.org/W3151202240","https://openalex.org/W6676659622","https://openalex.org/W6679294129","https://openalex.org/W6681214679","https://openalex.org/W6685071249","https://openalex.org/W6728610323"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,127,151],"novel":[4],"approach":[5,161],"to":[6,27,63,68,150],"improving":[7],"precision":[8],"and":[9,92,105,110,168],"reliability":[10],"of":[11,13,49,73,124,153],"odometry":[12,60,156],"skid-steer":[14],"mobile":[15],"robots":[16],"by":[17,20,46,87],"means":[18],"inspired":[19],"robotic":[21],"terrain":[22,38,44,65,140],"classification":[23],"(RTC).":[24],"In":[25],"contrary":[26],"standard":[28],"RTC":[29],"approaches":[30],"we":[31,41],"do":[32],"not":[33],"provide":[34,117],"human":[35],"labeled":[36],"discrete":[37],"categories":[39],"but":[40],"classify":[42],"the":[43,47,52,59,64,83,100,111,122,154],"directly":[45],"values":[48],"coefficients":[50,57,76],"correcting":[51],"robot's":[53],"odometry.":[54],"Hence":[55],"these":[56,74],"make":[58],"model":[61],"adaptable":[62],"type":[66],"due":[67],"inherent":[69],"slip":[70],"compensation.":[71],"Estimation":[72],"correction":[75],"is":[77,162],"based":[78],"on":[79,137,170],"feature":[80],"extraction":[81],"from":[82,99],"vibration":[84],"data":[85],"measured":[86],"an":[88],"inertial":[89],"measurement":[90],"unit":[91],"regression":[93],"function":[94],"trained":[95],"offline.":[96],"Statistical":[97],"features":[98,107],"time":[101],"domain,":[102,104],"frequency":[103],"wavelet":[106],"were":[108,113],"explored":[109],"best":[112],"automatically":[114],"selected.":[115],"To":[116],"ground":[118],"truth":[119],"trajectory":[120],"for":[121,165],"purpose":[123],"offline":[125],"training":[126],"portable":[128],"overhead":[129],"camera":[130],"tracking":[131],"system":[132],"was":[133],"developed.":[134],"Experimental":[135],"evaluation":[136],"rough":[138],"outdoor":[139],"proved":[141],"67.9\u00b17.5%":[142],"improvement":[143],"in":[144,146],"RMSE":[145],"position":[147],"with":[148],"respect":[149],"state":[152],"art":[155],"model.":[157],"Moreover,":[158],"our":[159],"proposed":[160],"straightforward,":[163],"easy":[164],"online":[166],"implementation,":[167],"low":[169],"computational":[171],"demands.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":7}],"updated_date":"2026-02-09T05:59:30.833894","created_date":"2025-10-10T00:00:00"}