{"id":"https://openalex.org/W2172104020","doi":"https://doi.org/10.1109/icsmc.2004.1401030","title":"Simultaneous localization and map building with linear system model","display_name":"Simultaneous localization and map building with linear system model","publication_year":2005,"publication_date":"2005-03-31","ids":{"openalex":"https://openalex.org/W2172104020","doi":"https://doi.org/10.1109/icsmc.2004.1401030","mag":"2172104020"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2004.1401030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1401030","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","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/A5102999493","display_name":"Zezhong Xu","orcid":"https://orcid.org/0000-0003-3514-9190"},"institutions":[{"id":"https://openalex.org/I4210110458","display_name":"Institute of Electronics","ror":"https://ror.org/01z143507","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210110458"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Zezhong","raw_affiliation_strings":["Department of Computer Science and Engineering, Hangzhou Institute of Electronics Engineering, Hangzhou, China","Institute of Information Communication Engineering, University of Zhejiang, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Hangzhou Institute of Electronics Engineering, Hangzhou, China","institution_ids":["https://openalex.org/I4210110458"]},{"raw_affiliation_string":"Institute of Information Communication Engineering, University of Zhejiang, Hangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108103510","display_name":"Liu Ji-lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu Jilin","raw_affiliation_strings":["Institute of Information Communication Engineering, University of Zhejiang, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Information Communication Engineering, University of Zhejiang, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102999493"],"corresponding_institution_ids":["https://openalex.org/I4210110458"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18289325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"5265","last_page":"5270"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.7756417989730835},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6723088026046753},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6533217430114746},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6384071707725525},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6296640634536743},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.6231204867362976},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.5825555324554443},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5489190816879272},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.51801997423172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5150822997093201},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.489864319562912},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.45384305715560913},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.41655510663986206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3883368968963623},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3777744770050049},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.366787314414978},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36244192719459534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3477981686592102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24148797988891602}],"concepts":[{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.7756417989730835},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6723088026046753},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6533217430114746},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6384071707725525},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6296640634536743},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.6231204867362976},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.5825555324554443},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5489190816879272},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.51801997423172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5150822997093201},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.489864319562912},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.45384305715560913},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.41655510663986206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3883368968963623},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3777744770050049},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.366787314414978},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36244192719459534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3477981686592102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24148797988891602},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2004.1401030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1401030","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W74453616","https://openalex.org/W198791017","https://openalex.org/W1497575066","https://openalex.org/W1549613529","https://openalex.org/W1644054796","https://openalex.org/W1963542357","https://openalex.org/W1977464512","https://openalex.org/W1990012555","https://openalex.org/W2026805101","https://openalex.org/W2100053656","https://openalex.org/W2109513571","https://openalex.org/W2126118824","https://openalex.org/W2143864104","https://openalex.org/W2148228392","https://openalex.org/W2148820580","https://openalex.org/W2149390325","https://openalex.org/W2162717464","https://openalex.org/W2165746885","https://openalex.org/W2168210109","https://openalex.org/W2170884176","https://openalex.org/W4285719527","https://openalex.org/W6675078394","https://openalex.org/W6682324061","https://openalex.org/W6684216004"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"This":[0,37],"paper":[1,38],"presents":[2],"an":[3],"optimization":[4,59,76,102],"solution":[5,18,60,77,87,105],"for":[6],"the":[7,30,35,99,107],"simultaneous":[8],"localization":[9],"and":[10,43,53,80,83,103],"map":[11],"building":[12],"(SLAM)":[13],"problem.":[14],"The":[15,67,75,96],"full":[16,108],"covariance":[17,109],"based":[19,63],"on":[20,64,117],"extended":[21],"Kalman":[22],"filter":[23],"(EKF)":[24],"requires":[25],"update":[26],"time":[27],"quadratic":[28],"in":[29,34],"number":[31],"of":[32,49,101],"landmarks":[33],"map.":[36],"reconstructs":[39],"system":[40,44],"state":[41],"vector":[42],"models.":[45],"Covariance":[46],"matrix":[47],"consists":[48],"two":[50],"identical":[51],"submatrix":[52],"a":[54],"negative":[55],"symmetrical":[56],"submatrix.":[57],"An":[58],"is":[61,70,78,88],"proposed":[62,89],"this":[65],"property.":[66],"computation":[68,92],"requirement":[69,93],"reduced":[71],"without":[72],"any":[73],"approximation.":[74],"consistent":[79],"convergent":[81],"theoretically":[82],"realistically.":[84],"Another":[85],"approximation":[86,104],"to":[90],"reduce":[91],"much":[94],"more.":[95],"experiment":[97],"compares":[98],"performance":[100],"with":[106,123],"solution.":[110],"All":[111],"these":[112],"techniques":[113],"have":[114],"been":[115],"implemented":[116],"our":[118],"mobile":[119],"robot":[120],"ATRVII":[121],"equipped":[122],"2D":[124],"laser":[125],"rangefinder":[126],"SICK.":[127]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}