{"id":"https://openalex.org/W2015159026","doi":"https://doi.org/10.1109/iros.2012.6386123","title":"Vehicle localization in mountainous gravelled paths","display_name":"Vehicle localization in mountainous gravelled paths","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2015159026","doi":"https://doi.org/10.1109/iros.2012.6386123","mag":"2015159026"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/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":true,"raw_author_name":"Yoichi Morales","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","Graduate Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Japan#TAB#"],"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 Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Japan#TAB#","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015359930","display_name":"Shigeru Sarata","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":"Shigeru Sarata","raw_affiliation_strings":["Field Systems Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","Field Systems Research Group of the National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Field Systems Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Field Systems Research Group of the National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","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 Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Japan#TAB#"],"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 Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Japan#TAB#","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108556812"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06661488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":null,"first_page":"4342","last_page":"4347"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9973999857902527,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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/global-positioning-system","display_name":"Global Positioning System","score":0.803755521774292},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.7513920664787292},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.6529570817947388},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5627292394638062},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5486078262329102},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5331541299819946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.533105731010437},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5153457522392273},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.49551165103912354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49508562684059143},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.49344339966773987},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4764038622379303},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4712149202823639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43138349056243896},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3943663239479065},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2760687470436096},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2581091821193695},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.15199103951454163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11867976188659668},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08793377876281738}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.803755521774292},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.7513920664787292},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.6529570817947388},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5627292394638062},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5486078262329102},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5331541299819946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.533105731010437},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5153457522392273},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.49551165103912354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49508562684059143},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.49344339966773987},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4764038622379303},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4712149202823639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43138349056243896},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3943663239479065},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2760687470436096},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2581091821193695},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.15199103951454163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11867976188659668},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08793377876281738},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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.2012.6386123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1580721220","https://openalex.org/W1601378499","https://openalex.org/W1870175875","https://openalex.org/W1982596298","https://openalex.org/W2036339490","https://openalex.org/W2049588613","https://openalex.org/W2070669127","https://openalex.org/W2098034990","https://openalex.org/W2116676690","https://openalex.org/W2123563926","https://openalex.org/W2126120729","https://openalex.org/W2154418813","https://openalex.org/W2167061621","https://openalex.org/W2171414411","https://openalex.org/W2172282149","https://openalex.org/W3083287416","https://openalex.org/W6639124853","https://openalex.org/W6662906489"],"related_works":["https://openalex.org/W3148155918","https://openalex.org/W2462682329","https://openalex.org/W2053526712","https://openalex.org/W4206741056","https://openalex.org/W3040595263","https://openalex.org/W1621772017","https://openalex.org/W4239147863","https://openalex.org/W2909855017","https://openalex.org/W2352163239","https://openalex.org/W2903781741"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,37,59],"approach":[4],"for":[5,43],"vehicle":[6],"localization":[7,104],"in":[8,58,95],"the":[9,17,69,79,82,96,113],"mountainous":[10,97],"non-paved":[11],"roads":[12],"of":[13,19,100],"a":[14,20,31,75,101],"quarry.":[15,102],"First,":[16],"elaboration":[18],"3D":[21],"elevation":[22,60,83],"map":[23,61,84],"using":[24,74],"data":[25],"from":[26],"dead":[27],"reckoning,":[28],"RTK-GPS":[29],"and":[30,45,53,66],"laser":[32],"sensor":[33],"is":[34,51,63,72,88],"described,":[35],"where":[36,85],"extended":[38],"Kalman":[39],"filter":[40,77],"was":[41],"used":[42],"state":[44],"covariance":[46],"estimation.":[47],"Terrain":[48],"traversability":[49],"analysis":[50],"performed":[52,94],"scan":[54],"points":[55],"are":[56],"voted":[57],"which":[62],"probabilistically":[64],"built":[65],"updated.":[67],"Secondly,":[68],"vehicle's":[70],"pose":[71],"estimated":[73],"particle":[76],"correcting":[78],"position":[80],"towards":[81,107],"GPS":[86,110],"information":[87],"not":[89],"used.":[90],"Finally,":[91],"experiments":[92],"were":[93],"gravelled":[98],"paths":[99],"Estimated":[103],"results":[105],"compared":[106],"centimeter":[108],"precision":[109],"show":[111],"that":[112],"system":[114],"offers":[115],"sub-meter":[116],"precision.":[117]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
