{"id":"https://openalex.org/W3091010968","doi":"https://doi.org/10.1109/icra40945.2020.9197032","title":"Efficient and precise sensor fusion for non-linear systems with out-of-sequence measurements by example of mobile robotics","display_name":"Efficient and precise sensor fusion for non-linear systems with out-of-sequence measurements by example of mobile robotics","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091010968","doi":"https://doi.org/10.1109/icra40945.2020.9197032","mag":"3091010968"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5007160745","display_name":"Pascal Bohmler","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Pascal Bohmler","raw_affiliation_strings":["Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075796523","display_name":"Jonathan Dziedzitz","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonathan Dziedzitz","raw_affiliation_strings":["Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070464717","display_name":"Patric Hopfgarten","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patric Hopfgarten","raw_affiliation_strings":["Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Material Handling and Logistics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022167119","display_name":"Thomas Specker","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Specker","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006875946","display_name":"Ralph Lange","orcid":"https://orcid.org/0000-0001-8923-8020"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ralph Lange","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007160745"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.5302,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73160596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/robotics","display_name":"Robotics","score":0.8104968070983887},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.7105870842933655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.666631817817688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6382400989532471},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6022790670394897},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5488427877426147},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5427818894386292},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.526079535484314},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4959357678890228},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.48518067598342896},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38123825192451477},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36865583062171936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34812361001968384},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3235410153865814}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8104968070983887},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7105870842933655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.666631817817688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6382400989532471},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6022790670394897},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5488427877426147},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5427818894386292},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.526079535484314},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4959357678890228},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.48518067598342896},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38123825192451477},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36865583062171936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34812361001968384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3235410153865814},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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":23,"referenced_works":["https://openalex.org/W1508507634","https://openalex.org/W1520710862","https://openalex.org/W2013416952","https://openalex.org/W2016358190","https://openalex.org/W2018016208","https://openalex.org/W2023805156","https://openalex.org/W2038420319","https://openalex.org/W2043938167","https://openalex.org/W2107837378","https://openalex.org/W2117816453","https://openalex.org/W2125695486","https://openalex.org/W2127752689","https://openalex.org/W2132695119","https://openalex.org/W2141145446","https://openalex.org/W2144616872","https://openalex.org/W2296267969","https://openalex.org/W2467407075","https://openalex.org/W2503737069","https://openalex.org/W2535784329","https://openalex.org/W4285719527","https://openalex.org/W6630354117","https://openalex.org/W6697114518","https://openalex.org/W6719950130"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2031175860","https://openalex.org/W2152662039","https://openalex.org/W2145797872"],"abstract_inverted_index":{"For":[0],"most":[1],"applications":[2,65],"in":[3,30,66,97,110],"mobile":[4,67],"robotics,":[5],"precise":[6],"state":[7,13],"estimation":[8,14,80,102,113],"is":[9,15,81,88,104,115],"essential.":[10],"Typically,":[11],"the":[12,18,38,79,98,101,112,128],"based":[16],"on":[17,46],"fusion":[19,40,52,99],"of":[20,50,60,86],"data":[21],"from":[22],"different":[23],"sensors.":[24],"In":[25,71],"practice,":[26],"these":[27],"sensors":[28],"differ":[29],"their":[31],"characteristics":[32],"and":[33,57,109,125,142],"measurements":[34,87],"are":[35,69,95,123],"available":[36],"to":[37,106],"sensor":[39,51],"algorithm":[41],"only":[42],"with":[43],"delay.":[44],"Based":[45],"a":[47,72],"brief":[48],"survey":[49],"approaches":[53,63],"that":[54,78],"consider":[55],"delayed":[56,84],"out-of-sequence":[58],"availability":[59,85],"measurements,":[61],"suitable":[62],"for":[64],"robotics":[68],"identified.":[70],"consumer":[73],"robot":[74],"use-case,":[75],"experiments":[76],"show":[77],"biased":[82],"if":[83,93],"not":[89],"considered":[90,96],"appropriately.":[91],"However,":[92],"delays":[94],"process,":[100],"bias":[103],"reduced":[105],"almost":[107,127],"zero":[108],"consequence,":[111],"performance":[114],"distinctly":[116],"improved.":[117],"Two":[118],"computational":[119,144],"favorable":[120],"approximative":[121],"methods":[122],"described":[124],"provide":[126],"same":[129],"accuracy":[130],"as":[131],"-":[132,135],"theoretically":[133],"optimal":[134],"brute-force":[136],"filter":[137],"recalculation":[138],"at":[139],"much":[140],"lower":[141],"well-distributed":[143],"costs.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}