{"id":"https://openalex.org/W2130196142","doi":"https://doi.org/10.1109/iros.2009.5354818","title":"Vehicle 3D localization in mountainous woodland environments","display_name":"Vehicle 3D localization in mountainous woodland environments","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2130196142","doi":"https://doi.org/10.1109/iros.2009.5354818","mag":"2130196142"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354818","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/A5108556812","display_name":"Yoichi Morales","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoichi Morales","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103627370","display_name":"Takashi Tsubouchi","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Tsubouchi","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467048","display_name":"Shin\u2019ichi Yuta","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Yuta","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8573, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":null,"first_page":"3588","last_page":"3594"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7326796054840088},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.658623993396759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412253379821777},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.6194930672645569},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5742126703262329},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5713345408439636},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5635857582092285},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4725256562232971},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4560052156448364},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4554637372493744},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.43471625447273254},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4274149239063263},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.31438615918159485},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16275912523269653}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7326796054840088},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.658623993396759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412253379821777},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.6194930672645569},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5742126703262329},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5713345408439636},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5635857582092285},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4725256562232971},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4560052156448364},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4554637372493744},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.43471625447273254},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4274149239063263},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.31438615918159485},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16275912523269653},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354818","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":[{"id":"https://metadata.un.org/sdg/11","score":0.5,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W35679345","https://openalex.org/W1484387568","https://openalex.org/W1531532259","https://openalex.org/W1555623254","https://openalex.org/W1559536185","https://openalex.org/W1982596298","https://openalex.org/W2055207897","https://openalex.org/W2070669127","https://openalex.org/W2105934661","https://openalex.org/W2116676690","https://openalex.org/W2121806728","https://openalex.org/W2124651605","https://openalex.org/W2130706967","https://openalex.org/W2132089677","https://openalex.org/W2133351685","https://openalex.org/W2140184526","https://openalex.org/W2142402075","https://openalex.org/W2157369266","https://openalex.org/W2161558635","https://openalex.org/W2168801682","https://openalex.org/W2171414411","https://openalex.org/W2399732523","https://openalex.org/W2401252665","https://openalex.org/W2408243243","https://openalex.org/W3083287416","https://openalex.org/W4245929652","https://openalex.org/W4302505531","https://openalex.org/W6601490372","https://openalex.org/W6891389948"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W2331134302","https://openalex.org/W1572218428","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2087485917"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,31],"approach":[4],"for":[5,46,97,108],"vehicle":[6,20,53,117],"3D":[7,21,75,127],"localization":[8],"in":[9,69],"outdoor":[10],"woodland":[11,143],"environments":[12],"using":[13,26,42],"a":[14,27,43,63,95,126],"loosely":[15],"coupled":[16],"multisensor":[17],"system.":[18],"The":[19],"dead":[22],"reckoning":[23,34],"is":[24,35,59,100,106,119],"computed":[25],"wheel":[28],"encoder":[29],"and":[30,49,111,148],"IMU.":[32],"Dead":[33],"corrected":[36,61],"from":[37],"three":[38],"different":[39],"sources:":[40],"a)":[41],"tilted":[44,136],"lidar":[45],"road":[47,57,65,128],"detection":[48],"computation":[50],"of":[51,94,150],"the":[52,56,92,115,122,135,146,151],"position":[54],"within":[55],"which":[58],"then":[60],"towards":[62],"2D":[64,73,123],"centerline":[66,129],"map":[67,124,130],"given":[68],"advance.":[70],"b)":[71],"DGPS":[72,83],"or":[74],"data":[76],"as":[77],"available.":[78],"c)":[79],"Under":[80],"tree":[81],"foliage":[82],"blackouts":[84],"commonly":[85],"occur,":[86],"specially":[87],"when":[88],"measuring":[89],"height,":[90],"therefore":[91],"use":[93],"barometer":[96],"correcting":[98],"height":[99,118],"proposed.":[101],"An":[102],"extended":[103],"Kalman":[104],"filter":[105],"used":[107],"sensor":[109],"fusion":[110],"pose":[112],"estimation.":[113],"Finally,":[114],"estimated":[116],"added":[120],"to":[121],"obtaining":[125],"with":[131],"width":[132],"(measured":[133],"by":[134],"lidar).":[137],"Thoroughly":[138],"experimentation":[139],"on":[140],"real":[141],"mountainous":[142],"paths":[144],"show":[145],"usefulness":[147],"robustness":[149],"proposed":[152],"approach.":[153]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}