{"id":"https://openalex.org/W2038814759","doi":"https://doi.org/10.1109/icsmc.2010.5641688","title":"Constrained 6DOF localisation for autonomous vehicles","display_name":"Constrained 6DOF localisation for autonomous vehicles","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2038814759","doi":"https://doi.org/10.1109/icsmc.2010.5641688","mag":"2038814759"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2010.5641688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2010.5641688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Systems, Man and Cybernetics","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/A5108120651","display_name":"Simon Thompson","orcid":"https://orcid.org/0000-0003-0264-2579"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Simon Thompson","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","Digital Human Research Center, National Institute of Advanced Industrial, Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial, Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113822737","display_name":"Satoshi Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Kagami","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","Digital Human Research Center, National Institute of Advanced Industrial, Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial, Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059771889","display_name":"Masafumi Okajima","orcid":null},"institutions":[{"id":"https://openalex.org/I2800996768","display_name":"Kansai Electric Power (Japan)","ror":"https://ror.org/03xrg8731","country_code":"JP","type":"company","lineage":["https://openalex.org/I2800996768"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masafumi Okajima","raw_affiliation_strings":["Kansai Electric Power Company, Inc., Japan","Kansai Electric Power Company, Japan"],"affiliations":[{"raw_affiliation_string":"Kansai Electric Power Company, Inc., Japan","institution_ids":["https://openalex.org/I2800996768"]},{"raw_affiliation_string":"Kansai Electric Power Company, Japan","institution_ids":["https://openalex.org/I2800996768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108120651"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.9561,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76708444,"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":"330","last_page":"335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.811896026134491},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.597546398639679},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5916674733161926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5655576586723328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5255987644195557},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4855753779411316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4273463189601898},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4107429087162018},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3148638606071472}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.811896026134491},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.597546398639679},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5916674733161926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5655576586723328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5255987644195557},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4855753779411316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4273463189601898},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4107429087162018},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3148638606071472},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2010.5641688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2010.5641688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2001392528","https://openalex.org/W2006614347","https://openalex.org/W2154844948","https://openalex.org/W2160584648","https://openalex.org/W2161406034","https://openalex.org/W2168801682","https://openalex.org/W2170132494","https://openalex.org/W3212743282"],"related_works":["https://openalex.org/W2125871801","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1585960250","https://openalex.org/W2120540633","https://openalex.org/W2123849027","https://openalex.org/W2539990421","https://openalex.org/W1501082329","https://openalex.org/W3114279067","https://openalex.org/W1976194731"],"abstract_inverted_index":{"Autonomous":[0,29],"navigation":[1,118],"for":[2,61],"vehicles":[3,30,65],"in":[4,33,67,106],"non-trivial":[5],"environments":[6,35,105],"requires":[7],"fast":[8],"and":[9,36,85],"precise":[10],"localisation.":[11],"Vehicle":[12],"control":[13],"based":[14,55],"on":[15],"erroneous":[16],"localisation":[17,56,62,72,108,114,124],"can":[18],"lead":[19],"to":[20,27,94],"motion":[21],"from":[22],"which":[23,40,58],"it":[24],"is":[25,41,59,73],"costly":[26],"recover.":[28],"typically":[31],"operate":[32],"3D":[34,68,100],"require":[37],"6DOF":[38,52,78],"localisation,":[39],"computationally":[42],"costly.":[43],"This":[44],"paper":[45],"reports":[46],"the":[47,77,87,96,104,107,113],"development":[48],"of":[49,63,89,98,103,112,126],"an":[50,122],"accurate":[51,71],"particle":[53],"filter":[54],"system":[57,115],"suitable":[60],"autonomous":[64,117],"operating":[66],"environments.":[69],"Fast,":[70],"achieved":[74],"by":[75,81,86],"constraining":[76],"search":[79],"space":[80],"physical":[82],"vehicle":[83],"limitations,":[84],"use":[88,97],"Graphics":[90],"Processing":[91],"Units":[92],"(GPU's)":[93],"enable":[95],"dense":[99],"internal":[101],"representations":[102],"process.":[109],"Experimental":[110],"results":[111],"controlling":[116],"are":[119],"presented,":[120],"with":[121],"average":[123],"error":[125],"approximately":[127],"10cm.":[128]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}