{"id":"https://openalex.org/W2738207958","doi":"https://doi.org/10.1109/icra.2017.7989547","title":"Overlap-based ICP tuning for robust localization of a humanoid robot","display_name":"Overlap-based ICP tuning for robust localization of a humanoid robot","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738207958","doi":"https://doi.org/10.1109/icra.2017.7989547","mag":"2738207958"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989547","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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":"https://www.research.ed.ac.uk/en/publications/198324d1-5275-4753-82da-847e65fd0ae0","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082717949","display_name":"Simona Nobili","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Simona Nobili","raw_affiliation_strings":["Institute of Perception, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Perception, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019136475","display_name":"Raluca Scona","orcid":"https://orcid.org/0000-0003-2031-0893"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Raluca Scona","raw_affiliation_strings":["Institute of Perception, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Perception, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077731560","display_name":"Marco Caravagna","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marco Caravagna","raw_affiliation_strings":["Institute of Perception, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Perception, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Institute of Perception, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Perception, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082717949"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":65.1652,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99695504,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4721","last_page":"4728"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9961000084877014,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9937999844551086,"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/computer-science","display_name":"Computer science","score":0.7658298015594482},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.729905366897583},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6681373715400696},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6099176406860352},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.6022820472717285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5970842242240906},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5939798355102539},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5881020426750183},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4974358379840851},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49338260293006897},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4607056677341461},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4160165786743164},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.2799028754234314}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7658298015594482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.729905366897583},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6681373715400696},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6099176406860352},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.6022820472717285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5970842242240906},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5939798355102539},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5881020426750183},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4974358379840851},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49338260293006897},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4607056677341461},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4160165786743164},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.2799028754234314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989547","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/198324d1-5275-4753-82da-847e65fd0ae0","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/198324d1-5275-4753-82da-847e65fd0ae0","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Nobili, S, Scona, R, Caravagna, M & Fallon, M 2017, Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot. in 2017 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 4721-4728, 2017 IEEE International Conference on Robotics and Automation, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989547","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/198324d1-5275-4753-82da-847e65fd0ae0","is_oa":false,"landing_page_url":"https://www.research.ed.ac.uk/portal/en/publications/overlapbased-icp-tuning-for-robust-localization-of-a-humanoid-robot(198324d1-5275-4753-82da-847e65fd0ae0).html","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/198324d1-5275-4753-82da-847e65fd0ae0","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/198324d1-5275-4753-82da-847e65fd0ae0","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Nobili, S, Scona, R, Caravagna, M & Fallon, M 2017, Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot. in 2017 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 4721-4728, 2017 IEEE International Conference on Robotics and Automation, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989547","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1953793983","https://openalex.org/W1971935589","https://openalex.org/W1983251245","https://openalex.org/W1999684857","https://openalex.org/W2005099894","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2080486840","https://openalex.org/W2118104180","https://openalex.org/W2126254787","https://openalex.org/W2127045032","https://openalex.org/W2140711847","https://openalex.org/W2144491133","https://openalex.org/W2145178709","https://openalex.org/W2152864241","https://openalex.org/W2154355760","https://openalex.org/W2218817948","https://openalex.org/W2296360731","https://openalex.org/W2335044248","https://openalex.org/W4230697254","https://openalex.org/W4241459016","https://openalex.org/W4249866455","https://openalex.org/W6678458632","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2745063183","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1496493270","https://openalex.org/W1981531423","https://openalex.org/W2011939812","https://openalex.org/W1977371217","https://openalex.org/W2115214301"],"abstract_inverted_index":{"State":[0],"estimation":[1],"techniques":[2],"for":[3,124],"humanoid":[4],"robots":[5],"are":[6,54],"typically":[7],"based":[8],"on":[9,69,89],"proprioceptive":[10],"sensing":[11],"and":[12,50,57,92,182],"accumulate":[13],"drift":[14,18],"over":[15],"time.":[16],"This":[17],"can":[19],"be":[20,102],"corrected":[21],"using":[22,172],"exteroceptive":[23],"sensors":[24],"such":[25],"as":[26],"laser":[27],"scanners":[28],"via":[29],"a":[30,73,79,107,112,122,151,179],"scene":[31],"registration":[32,90,149],"procedure.":[33],"For":[34],"this":[35,65,115,118],"procedure":[36],"the":[37,48,51,58,70,84,135,167,170,175,183,188],"common":[38,152],"assumption":[39],"of":[40,72,86,114,156,169],"high":[41],"point":[42],"cloud":[43],"overlap":[44,87,96],"is":[45,62,142,163],"violated":[46],"when":[47],"scenario":[49],"robot's":[52],"point-of-view":[53],"not":[55],"static":[56],"sensor's":[59],"field-of-view":[60],"(FOV)":[61],"limited.":[63],"In":[64,117],"paper":[66],"we":[67,120],"focus":[68],"localization":[71],"robot":[74],"with":[75],"limited":[76],"FOV":[77],"in":[78,154,178],"semi-structured":[80],"environment.":[81],"We":[82,105],"analyze":[83],"effect":[85],"variations":[88],"performance":[91,168],"demonstrate":[93],"that":[94],"where":[95],"varies,":[97],"outlier":[98],"filtering":[99,141],"needs":[100],"to":[101,147,150],"tuned":[103,144],"accordingly.":[104],"define":[106],"novel":[108],"parameter":[109],"which":[110,165],"gives":[111],"measure":[113],"overlap.":[116,158],"context,":[119],"propose":[121],"strategy":[123],"robust":[125],"non-incremental":[126],"registration.":[127],"The":[128],"pre-filtering":[129],"module":[130],"selects":[131],"planar":[132],"macro-features":[133],"from":[134],"input":[136],"clouds,":[137],"discarding":[138],"clutter.":[139],"Outlier":[140],"automatically":[143],"at":[145],"run-time":[146],"allow":[148],"reference":[153],"conditions":[155],"non-uniform":[157],"An":[159],"extensive":[160],"experimental":[161],"demonstration":[162],"presented":[164],"characterizes":[166],"algorithm":[171],"two":[173],"humanoids:":[174],"NASA":[176],"Valkyrie,":[177],"laboratory":[180],"environment,":[181],"Boston":[184],"Dynamics":[185],"Atlas,":[186],"during":[187],"DARPA":[189],"Robotics":[190],"Challenge":[191],"Finals.":[192]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
