{"id":"https://openalex.org/W2125645587","doi":"https://doi.org/10.1109/iros.2009.5354144","title":"Multiswarm Particle Filter for vision based SLAM","display_name":"Multiswarm Particle Filter for vision based SLAM","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2125645587","doi":"https://doi.org/10.1109/iros.2009.5354144","mag":"2125645587"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5101680560","display_name":"Hee Seok Lee","orcid":"https://orcid.org/0000-0001-8788-4440"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hee Seok Lee","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Seoul National University, Seoul, South Korea","Department of Electrical Engineering and Computer Science, Seoul National University, 599 Gwanangno, Gwanak-gu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Seoul National University, 599 Gwanangno, Gwanak-gu, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046504049","display_name":"Kyoung Mu Lee","orcid":"https://orcid.org/0000-0001-7210-1036"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoung Mu Lee","raw_affiliation_strings":["Faculty of the Department of Electrical Engineering and Computer Science, Seoul National University, Seoul, South Korea","Department of Electrical Engineering and Computer Science, Seoul National University, 599 Gwanangno, Gwanak-gu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of the Department of Electrical Engineering and Computer Science, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Seoul National University, 599 Gwanangno, Gwanak-gu, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.14248979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"924","last_page":"929"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/particle-filter","display_name":"Particle filter","score":0.8330707550048828},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7435652017593384},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6790735125541687},{"id":"https://openalex.org/keywords/auxiliary-particle-filter","display_name":"Auxiliary particle filter","score":0.6125120520591736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565080642700195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5345228314399719},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.5314760804176331},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5270823836326599},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.519855797290802},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5037538409233093},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4511024057865143},{"id":"https://openalex.org/keywords/particle","display_name":"Particle (ecology)","score":0.41616764664649963},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3959342837333679},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3322156071662903},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.2832678258419037},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.28153446316719055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22461187839508057},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.21383407711982727},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16854476928710938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16627269983291626},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09086114168167114}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.8330707550048828},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7435652017593384},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6790735125541687},{"id":"https://openalex.org/C52483021","wikidata":"https://www.wikidata.org/wiki/Q4827310","display_name":"Auxiliary particle filter","level":5,"score":0.6125120520591736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565080642700195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5345228314399719},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.5314760804176331},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5270823836326599},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.519855797290802},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5037538409233093},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4511024057865143},{"id":"https://openalex.org/C2778517922","wikidata":"https://www.wikidata.org/wiki/Q7140482","display_name":"Particle (ecology)","level":2,"score":0.41616764664649963},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3959342837333679},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3322156071662903},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.2832678258419037},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.28153446316719055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22461187839508057},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.21383407711982727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16854476928710938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16627269983291626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09086114168167114},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.4642","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.4642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/publication/conf/2009/MSPF_SLAM_IROS09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W7013798","https://openalex.org/W16088600","https://openalex.org/W1499946327","https://openalex.org/W1517469432","https://openalex.org/W1973876344","https://openalex.org/W2100214067","https://openalex.org/W2103393159","https://openalex.org/W2107941094","https://openalex.org/W2112793821","https://openalex.org/W2115350182","https://openalex.org/W2123657698","https://openalex.org/W2126736494","https://openalex.org/W2130422193","https://openalex.org/W2142454444","https://openalex.org/W2149020252","https://openalex.org/W2152195021","https://openalex.org/W2162729570","https://openalex.org/W2170858806","https://openalex.org/W2402846924","https://openalex.org/W4255759120","https://openalex.org/W4388085068","https://openalex.org/W6675456536","https://openalex.org/W6676506760","https://openalex.org/W6678636561","https://openalex.org/W6685004768","https://openalex.org/W6763868703"],"related_works":["https://openalex.org/W2593675237","https://openalex.org/W2133062384","https://openalex.org/W2138031790","https://openalex.org/W2162253570","https://openalex.org/W2349806108","https://openalex.org/W1993218785","https://openalex.org/W2373978657","https://openalex.org/W1991846142","https://openalex.org/W2369843118","https://openalex.org/W1506668244"],"abstract_inverted_index":{"Particle":[0,26],"filters":[1,61],"have":[2],"been":[3],"widely":[4],"used":[5],"as":[6,17],"a":[7,38,52,71,108],"powerful":[8],"optimization":[9,67],"tool":[10],"for":[11,82],"nonlinear,":[12],"non-Gaussian":[13],"dynamic":[14,83],"models":[15],"such":[16],"simultaneous":[18],"localization":[19,127],"and":[20,23,43,113,128],"mapping":[21,129],"(SLAM)":[22],"visual":[24],"tracking.":[25],"filters,":[27],"however,":[28],"often":[29],"suffer":[30],"from":[31],"particle":[32,60,65,90,140],"impoverishment,":[33],"which":[34,69],"is":[35,70,85,105,116],"caused":[36],"by":[37,62],"mismatch":[39],"between":[40],"proposal":[41],"distribution":[42],"target":[44,100],"distribution.":[45,101],"To":[46],"solve":[47],"this":[48],"problem,":[49],"we":[50],"propose":[51],"new":[53],"method":[54],"to":[55,92,107],"improve":[56],"the":[57,64,88,131,138],"efficiency":[58],"of":[59,73],"employing":[63],"swarm":[66,74],"(PSO),":[68],"kind":[72],"intelligence":[75],"algorithm.":[76],"The":[77,102],"PSO,":[78],"especially":[79],"its":[80,114],"variant":[81],"models,":[84],"combined":[86],"with":[87,99],"generic":[89],"filter":[91,104],"get":[93],"samples":[94],"that":[95,122],"are":[96],"well":[97],"matched":[98],"resulting":[103],"applied":[106],"vision":[109],"based":[110],"SLAM":[111],"system":[112],"performance":[115],"tested.":[117],"We":[118],"present":[119],"experimental":[120],"results":[121],"demonstrate":[123],"improved":[124],"accuracy":[125],"in":[126],"at":[130],"same":[132],"or":[133],"less":[134],"computational":[135],"cost":[136],"than":[137],"conventional":[139],"filters.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}