{"id":"https://openalex.org/W2102662774","doi":"https://doi.org/10.1109/iros.2008.4651196","title":"An Optical External Localization System and Applications to Indoor Tracking","display_name":"An Optical External Localization System and Applications to Indoor Tracking","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2102662774","doi":"https://doi.org/10.1109/iros.2008.4651196","mag":"2102662774"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5096893362","display_name":"Linga Srujan","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Linga Srujan","raw_affiliation_strings":["Computer Science and Artifical Intelligence Laboratory, MIT, Anna University, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artifical Intelligence Laboratory, MIT, Anna University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096893363","display_name":"Roy Binayak","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126846","display_name":"Information Technology Laboratory","ror":"https://ror.org/0440c3437","country_code":"US","type":"government","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065","https://openalex.org/I4210126846"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roy Binayak","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Arbeloff Laboratory for Information System and Technology, Cambridge, MA, USA","d\u00bfArbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, MIT, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Arbeloff Laboratory for Information System and Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210126846"]},{"raw_affiliation_string":"d\u00bfArbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, MIT, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I4210126846","display_name":"Information Technology Laboratory","ror":"https://ror.org/0440c3437","country_code":"US","type":"government","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065","https://openalex.org/I4210126846"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Asada","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Arbeloff Laboratory for Information System and Technology, Cambridge, MA, USA","d\u00bfArbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, MIT, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Arbeloff Laboratory for Information System and Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210126846"]},{"raw_affiliation_string":"d\u00bfArbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, MIT, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artifical Intelligence Laboratory, MIT, Anna University, Cambridge, MA, USA","Computer Science and Artificial Intelligence Lab, MIT, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artifical Intelligence Laboratory, MIT, Anna University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, MIT, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4744,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56386983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"1127","last_page":"1132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6218824982643127},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5766013264656067},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5581402778625488},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.5343056917190552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5117213726043701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5093823671340942},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4797840714454651},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.4589051604270935},{"id":"https://openalex.org/keywords/indoor-positioning-system","display_name":"Indoor positioning system","score":0.45495644211769104},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43776482343673706},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.43670743703842163},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.4175889790058136},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4166538715362549},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.19524487853050232},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14501920342445374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1340380609035492},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.12000375986099243}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6218824982643127},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5766013264656067},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5581402778625488},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.5343056917190552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5117213726043701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5093823671340942},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4797840714454651},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.4589051604270935},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.45495644211769104},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43776482343673706},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.43670743703842163},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.4175889790058136},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4166538715362549},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.19524487853050232},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14501920342445374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1340380609035492},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.12000375986099243},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4651196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.208.5664","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.208.5664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://groups.csail.mit.edu/drl/wiki/images/9/95/IROS2008_Srujan.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2070574914","https://openalex.org/W2109031543","https://openalex.org/W2129165641","https://openalex.org/W2136854005","https://openalex.org/W2150388519","https://openalex.org/W2150730565","https://openalex.org/W2161793930","https://openalex.org/W2169513988","https://openalex.org/W4238554946","https://openalex.org/W4247247731"],"related_works":["https://openalex.org/W3086226261","https://openalex.org/W2088560339","https://openalex.org/W1997606443","https://openalex.org/W1983167535","https://openalex.org/W2330405142","https://openalex.org/W2128044034","https://openalex.org/W2371672757","https://openalex.org/W2742648029","https://openalex.org/W2783973417","https://openalex.org/W4313307376"],"abstract_inverted_index":{"Precise":[0],"robot":[1],"positioning":[2],"is":[3],"important":[4],"for":[5],"many":[6],"applications":[7],"in":[8,90,133,151,191],"indoor":[9,15,40],"environments.":[10],"Current":[11],"solutions":[12],"to":[13,72,147,156,162,180,193],"the":[14,50,65,68,73,91,116,134,152,167,170,174,182,185,188,203],"localization":[16,41,176],"problem":[17],"are":[18],"either":[19],"both":[20],"unreliable":[21],"and":[22,33,38,83,88,121,130,137],"inaccurate,":[23],"or":[24],"very":[25],"expensive.":[26],"In":[27],"this":[28,97],"paper":[29],"we":[30],"propose,":[31],"design":[32],"build":[34],"a":[35,53,99,195],"low-cost,":[36],"robust":[37],"accurate":[39],"system":[42,48,78,143,177],"using":[43,57],"laser":[44,75,175],"light":[45],"sources.":[46],"The":[47,142],"calculates":[49],"coordinates":[51],"of":[52,64,67,79,93,125,169,184,187,197],"robotic":[54,100,153,189],"arm":[55,101,154,190],"by":[56,111],"triangulation":[58],"algorithms":[59],"with":[60,70,122],"precisely":[61],"measured":[62],"values":[63,120],"angles":[66],"receiver":[69,84],"respect":[71],"three":[74,80],"emitters.":[76],"A":[77],"rotating":[81],"lasers":[82],"unit":[85],"was":[86,144,178],"built":[87],"deployed":[89],"wing":[92,205],"an":[94],"aircraft.":[95],"Using":[96],"system,":[98],"could":[102],"be":[103],"localized":[104],"accurately":[105],"within":[106,202],"error":[107],"margins":[108],"defined":[109],"approximately":[110],"Gaussian":[112],"distributions":[113],"centered":[114],"at":[115],"object\u2019s":[117],"true":[118],"coordinate":[119,139],"standard":[123],"deviations":[124],"0.19":[126],"mm,":[127],"0.11":[128],"mm":[129,132],"0.34":[131],"x,":[135],"y":[136],"z":[138],"directions":[140],"respectively.":[141],"also":[145],"used":[146,179],"detect":[148],"vertical":[149],"drop":[150],"due":[155],"its":[157],"weight":[158],"as":[159],"it":[160],"extends":[161],"perform":[163,194],"fitting":[164],"operations":[165],"on":[166],"skin":[168],"wing.":[171],"Feedback":[172],"from":[173],"adjust":[181],"position":[183],"tip":[186],"order":[192],"sequence":[196],"high":[198],"precision":[199],"docking":[200],"tasks":[201],"aircraft":[204]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}