{"id":"https://openalex.org/W3090242756","doi":"https://doi.org/10.1109/icra40945.2020.9197275","title":"A Flexible Method for Performance Evaluation of Robot Localization","display_name":"A Flexible Method for Performance Evaluation of Robot Localization","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090242756","doi":"https://doi.org/10.1109/icra40945.2020.9197275","mag":"3090242756"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197275","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/A5081606168","display_name":"Sean Scheideman","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Sean Scheideman","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082800075","display_name":"Nilanjan Ray","orcid":"https://orcid.org/0000-0002-7588-5400"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nilanjan Ray","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430266","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081606168"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.3451,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73273829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8302","last_page":"8308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8009827136993408},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7970443367958069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7761567234992981},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7428221702575684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7114723920822144},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6855554580688477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.636469841003418},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5711579918861389},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4710041582584381},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.416996031999588},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07747060060501099}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8009827136993408},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7970443367958069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7761567234992981},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7428221702575684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7114723920822144},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6855554580688477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.636469841003418},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5711579918861389},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4710041582584381},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.416996031999588},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07747060060501099},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197275","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":25,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W2021851106","https://openalex.org/W2046245205","https://openalex.org/W2047234110","https://openalex.org/W2059068775","https://openalex.org/W2067307401","https://openalex.org/W2085280799","https://openalex.org/W2099471712","https://openalex.org/W2119709757","https://openalex.org/W2139951940","https://openalex.org/W2148853660","https://openalex.org/W2150066425","https://openalex.org/W2225818204","https://openalex.org/W2411093439","https://openalex.org/W2558027072","https://openalex.org/W2559655401","https://openalex.org/W2737057113","https://openalex.org/W2789218862","https://openalex.org/W2891331468","https://openalex.org/W2898231767","https://openalex.org/W2908326044","https://openalex.org/W2963376432","https://openalex.org/W6682506173","https://openalex.org/W6741813933","https://openalex.org/W6755234996"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W2556215627"],"abstract_inverted_index":{"An":[0],"important":[1],"research":[2],"issue":[3],"in":[4,14,76],"mobile":[5],"robotics":[6],"is":[7],"performance":[8,63],"assessment":[9],"of":[10,16,28,45,92,146],"robot":[11,78,114],"SLAM":[12,21,62,119],"algorithms":[13,22,133],"terms":[15],"their":[17],"localization":[18],"accuracy.":[19],"Typically,":[20],"are":[23,41],"evaluated":[24],"with":[25,88],"the":[26,77,93,106,112,142],"help":[27],"benchmark":[29],"datasets":[30,39],"or":[31],"expensive":[32],"equipment":[33],"such":[34],"as":[35,71,96],"motion":[36,46],"capture.":[37],"Benchmark":[38],"however,":[40],"environment-specific,":[42],"and":[43,51,84,121,134,137,144],"use":[44],"capture":[47],"constrains":[48],"spatial":[49],"coverage":[50],"affordability.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56,140],"present":[57],"a":[58,89,97,118],"novel":[59],"method":[60,104],"for":[61],"evaluation,":[64],"which":[65],"only":[66],"uses":[67,105],"distinctive":[68],"markers":[69,87],"(such":[70],"AR":[72],"tags),":[73],"randomly":[74],"placed":[75],"navigation":[79],"environment":[80],"at":[81],"arbitrary":[82],"locations,":[83],"observes":[85],"these":[86],"camera":[90],"onboard":[91],"robot.":[94],"Formulated":[95],"generative":[98],"latent":[99],"optimization":[100],"(GLO)":[101],"problem,":[102],"our":[103,147],"local":[107],"robot-to-marker":[108],"poses":[109],"to":[110],"evaluate":[111],"global":[113],"pose":[115],"estimates":[116],"by":[117],"algorithm":[120],"therefore":[122],"its":[123],"performance.":[124],"Through":[125],"extensive":[126],"experiments":[127],"on":[128],"two":[129],"robots,":[130],"three":[131],"localization/SLAM":[132],"both":[135],"LiDAR":[136],"RGB-D":[138],"sensors,":[139],"demonstrate":[141],"feasibility":[143],"accuracy":[145],"proposed":[148],"method.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}