{"id":"https://openalex.org/W1554704324","doi":"https://doi.org/10.1109/icra.2015.7139835","title":"Duality-based verification techniques for 2D SLAM","display_name":"Duality-based verification techniques for 2D SLAM","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1554704324","doi":"https://doi.org/10.1109/icra.2015.7139835","mag":"1554704324"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/43bda59f-3cf2-4d68-a018-dd8b1060de3b/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","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":"Luca Carlone","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","School of Interactive Computing, College of Computing, Georgia Institute of Technology, Atlanta, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Interactive Computing, College of Computing, Georgia Institute of Technology, Atlanta, USA#TAB#","institution_ids":["https://openalex.org/I130701444"]}]},{"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":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","School of Interactive Computing, College of Computing, Georgia Institute of Technology, Atlanta, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Interactive Computing, College of Computing, Georgia Institute of Technology, Atlanta, USA#TAB#","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042157108"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":5.3871,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.95173211,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4589","last_page":"4596"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9950000047683716,"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/duality","display_name":"Duality (order theory)","score":0.688629150390625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5465133786201477},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41555511951446533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29147830605506897},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2611268162727356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15448981523513794},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.13186043500900269},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09194302558898926}],"concepts":[{"id":"https://openalex.org/C2778023678","wikidata":"https://www.wikidata.org/wiki/Q554403","display_name":"Duality (order theory)","level":2,"score":0.688629150390625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5465133786201477},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41555511951446533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29147830605506897},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2611268162727356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15448981523513794},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.13186043500900269},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09194302558898926}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/53711","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/53711","pdf_url":"http://repository.gatech.edu/bitstreams/43bda59f-3cf2-4d68-a018-dd8b1060de3b/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:1853/53711","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/53711","pdf_url":"http://repository.gatech.edu/bitstreams/43bda59f-3cf2-4d68-a018-dd8b1060de3b/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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1554704324.pdf","grobid_xml":"https://content.openalex.org/works/W1554704324.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1161662587","https://openalex.org/W1487444668","https://openalex.org/W1509095035","https://openalex.org/W1872485792","https://openalex.org/W1966173730","https://openalex.org/W1966349642","https://openalex.org/W1968315983","https://openalex.org/W1976905874","https://openalex.org/W1994292819","https://openalex.org/W2017470165","https://openalex.org/W2019669853","https://openalex.org/W2022682282","https://openalex.org/W2035491427","https://openalex.org/W2044739225","https://openalex.org/W2049479307","https://openalex.org/W2080641403","https://openalex.org/W2100481345","https://openalex.org/W2105638603","https://openalex.org/W2106292145","https://openalex.org/W2107156416","https://openalex.org/W2107905629","https://openalex.org/W2119538218","https://openalex.org/W2120092158","https://openalex.org/W2125341325","https://openalex.org/W2137052305","https://openalex.org/W2139209110","https://openalex.org/W2153054365","https://openalex.org/W2296319761","https://openalex.org/W2296754596","https://openalex.org/W2548251346","https://openalex.org/W3149330788","https://openalex.org/W4232204285","https://openalex.org/W4248598408","https://openalex.org/W4250589301","https://openalex.org/W4301621763","https://openalex.org/W6630102990","https://openalex.org/W6639325027","https://openalex.org/W6659531432","https://openalex.org/W6676375303","https://openalex.org/W6678383644","https://openalex.org/W6697688974","https://openalex.org/W6729233874"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"While":[0],"iterative":[1],"optimization":[2],"techniques":[3,155],"for":[4,46,118],"Simultaneous":[5],"Localization":[6],"and":[7,14,37,51,121],"Mapping":[8],"(SLAM)":[9],"are":[10,53],"now":[11],"very":[12,44],"efficient":[13],"widely":[15],"used,":[16],"none":[17],"of":[18,54,109,152],"them":[19],"can":[20,102,160],"guarantee":[21],"global":[22],"convergence":[23,30],"to":[24,61,89,105],"the":[25,78,94,107,150],"maximum":[26],"likelihood":[27],"estimate.":[28],"Local":[29],"usually":[31],"implies":[32],"artifacts":[33],"in":[34,48,83,137,163],"map":[35],"reconstruction":[36],"large":[38],"localization":[39],"errors,":[40],"hence":[41,113],"it":[42],"is":[43,69,74,81],"undesirable":[45],"applications":[47],"which":[49],"accuracy":[50],"safety":[52],"paramount":[55],"importance.":[56],"We":[57],"provide":[58],"a":[59,64,110,115,147],"technique":[60,129],"verify":[62],"if":[63],"given":[65],"2D":[66],"SLAM":[67,111,139,154],"solution":[68,80],"globally":[70],"optimal.":[71],"The":[72],"insight":[73],"that,":[75],"while":[76],"computing":[77],"optimal":[79,95],"hard":[82],"general,":[84],"duality":[85],"theory":[86],"provides":[87],"tools":[88],"compute":[90],"tight":[91],"bounds":[92,101],"on":[93],"cost,":[96],"via":[97],"convex":[98],"programming.":[99],"These":[100],"be":[103,161],"used":[104,162],"evaluate":[106],"quality":[108],"solution,":[112],"providing":[114],"\u201csanity":[116],"check\u201d":[117],"state-of-the-art":[119],"incremental":[120],"batch":[122],"solvers.":[123],"Experimental":[124],"results":[125],"show":[126],"that":[127,159],"our":[128],"successfully":[130],"identifies":[131],"wrong":[132],"estimates":[133],"(i.e.,":[134],"local":[135],"minima)":[136],"large-scale":[138],"scenarios.":[140],"This":[141],"work,":[142],"together":[143],"with":[144,156],"[1],":[145],"represents":[146],"step":[148],"towards":[149],"objective":[151],"having":[153],"guaranteed":[157],"performance,":[158],"safety-critical":[164],"applications.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}