{"id":"https://openalex.org/W2108712827","doi":"https://doi.org/10.1109/iros.2009.5354198","title":"Simultaneous people tracking and localization for social robots using external laser range finders","display_name":"Simultaneous people tracking and localization for social robots using external laser range finders","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2108712827","doi":"https://doi.org/10.1109/iros.2009.5354198","mag":"2108712827"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354198","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":"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/A5079656039","display_name":"Dylan F. Glas","orcid":"https://orcid.org/0000-0002-2071-1219"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dylan F. Glas","raw_affiliation_strings":["ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028939608","display_name":"Takayuki Kanda","orcid":"https://orcid.org/0000-0002-9546-5825"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Kanda","raw_affiliation_strings":["ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101425832","display_name":"Hiroshi Ishiguro","orcid":"https://orcid.org/0000-0002-0805-7648"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Ishiguro","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan","Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058513264","display_name":"Norihiro Hagita","orcid":"https://orcid.org/0000-0001-8007-4701"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norihiro Hagita","raw_affiliation_strings":["ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7466,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.90496914,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"846","last_page":"853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9966999888420105,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9958000183105469,"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/odometry","display_name":"Odometry","score":0.7999597191810608},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7143282294273376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6681153774261475},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6670718193054199},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5838091969490051},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.573323130607605},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5074674487113953},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.49726632237434387},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4896438717842102},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.482077419757843},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4747924208641052},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.47290098667144775},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.43391939997673035},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3576308488845825},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08875152468681335}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7999597191810608},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7143282294273376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6681153774261475},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6670718193054199},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5838091969490051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.573323130607605},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5074674487113953},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49726632237434387},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4896438717842102},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.482077419757843},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4747924208641052},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.47290098667144775},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.43391939997673035},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3576308488845825},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08875152468681335},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354198","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1601378499","https://openalex.org/W1973876344","https://openalex.org/W1987629235","https://openalex.org/W2022002629","https://openalex.org/W2037399936","https://openalex.org/W2076406743","https://openalex.org/W2100053741","https://openalex.org/W2103530214","https://openalex.org/W2107310183","https://openalex.org/W2112441941","https://openalex.org/W2114783659","https://openalex.org/W2115699763","https://openalex.org/W2116357777","https://openalex.org/W2122941552","https://openalex.org/W2123564449","https://openalex.org/W2136760085","https://openalex.org/W2140321175","https://openalex.org/W2140927080","https://openalex.org/W2142924305","https://openalex.org/W2143864104","https://openalex.org/W2146770348","https://openalex.org/W2147155775","https://openalex.org/W2149916176","https://openalex.org/W2156715992","https://openalex.org/W2162729570","https://openalex.org/W2169033759","https://openalex.org/W2169051915","https://openalex.org/W2170748977","https://openalex.org/W2336416123","https://openalex.org/W2545274401","https://openalex.org/W3036876381","https://openalex.org/W3150783140","https://openalex.org/W6676638597","https://openalex.org/W6683290661","https://openalex.org/W6903437265"],"related_works":["https://openalex.org/W2005337052","https://openalex.org/W2970345194","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2152464524","https://openalex.org/W1501279479"],"abstract_inverted_index":{"Robust":[0],"localization":[1,29],"of":[2,7,16,38,48,76,118,137,181],"robots":[3,18,40,52,120],"and":[4,50,88,146,161,171,175],"reliable":[5],"tracking":[6,144],"people":[8,49],"are":[9,149],"both":[10],"critical":[11],"requirements":[12],"for":[13],"the":[14,34,46,54,80,134,142,156,162,179],"deployment":[15],"service":[17,39,119],"in":[19,59,79,184],"real-world":[20],"environments.":[21],"In":[22],"crowded":[23],"public":[24],"spaces,":[25],"occlusions":[26],"can":[27],"impede":[28],"using":[30],"on-board":[31],"sensors.":[32],"At":[33],"same":[35,55],"time,":[36],"teams":[37],"working":[41],"together":[42],"need":[43],"to":[44,61,72,82,105,114,151],"share":[45],"locations":[47],"other":[51],"on":[53,92,121],"global":[56,124,163],"coordinate":[57,125,159],"system":[58,95,183],"order":[60],"provide":[62,83],"services":[63],"efficiently.":[64],"To":[65],"solve":[66],"this":[67],"problem,":[68],"our":[69,168,182],"approach":[70],"is":[71,131],"use":[73],"an":[74,84,138],"infrastructure":[75],"sensors":[77],"embedded":[78],"environment":[81],"inertial":[85],"reference":[86,164],"frame":[87],"wide-area":[89],"coverage.":[90],"Based":[91],"a":[93,112,116,122,185],"people-tracking":[94],"we":[96,109],"have":[97,110],"previously":[98],"established":[99],"which":[100],"uses":[101],"laser":[102,143],"range":[103],"finders":[104],"track":[106],"people's":[107],"trajectories,":[108],"developed":[111],"technique":[113],"localize":[115],"team":[117],"shared":[123],"system.":[126],"Each":[127],"robot's":[128],"odometry":[129],"data":[130,169],"associated":[132],"with":[133],"observed":[135],"trajectory":[136],"entity":[139],"detected":[140],"by":[141],"system,":[145],"Kalman":[147],"filters":[148],"used":[150],"correct":[152],"rotational":[153],"offsets":[154],"between":[155],"robots'":[157],"individual":[158],"systems":[160],"frame.":[165],"We":[166],"present":[167],"association":[170],"pose":[172],"correction":[173],"algorithms":[174],"show":[176],"results":[177],"demonstrating":[178],"performance":[180],"shopping":[186],"arcade.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
