{"id":"https://openalex.org/W3186370601","doi":"https://doi.org/10.1109/iros51168.2021.9636833","title":"Overlap Displacement Error: Are Your SLAM Poses Map-Consistent?","display_name":"Overlap Displacement Error: Are Your SLAM Poses Map-Consistent?","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3186370601","doi":"https://doi.org/10.1109/iros51168.2021.9636833","mag":"3186370601"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636833","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5043147741","display_name":"Christian Mostegel","orcid":"https://orcid.org/0000-0002-1087-3767"},"institutions":[{"id":"https://openalex.org/I4210089985","display_name":"Amazon (Germany)","ror":"https://ror.org/00b9ktm87","country_code":"DE","type":"company","lineage":["https://openalex.org/I1311688040","https://openalex.org/I4210089985"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Mostegel","raw_affiliation_strings":["Amazon"],"affiliations":[{"raw_affiliation_string":"Amazon","institution_ids":["https://openalex.org/I4210089985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031373536","display_name":"Jianbo Ye","orcid":"https://orcid.org/0000-0003-4612-6429"},"institutions":[{"id":"https://openalex.org/I4210089985","display_name":"Amazon (Germany)","ror":"https://ror.org/00b9ktm87","country_code":"DE","type":"company","lineage":["https://openalex.org/I1311688040","https://openalex.org/I4210089985"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianbo Ye","raw_affiliation_strings":["Amazon"],"affiliations":[{"raw_affiliation_string":"Amazon","institution_ids":["https://openalex.org/I4210089985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102160608","display_name":"Yu Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089985","display_name":"Amazon (Germany)","ror":"https://ror.org/00b9ktm87","country_code":"DE","type":"company","lineage":["https://openalex.org/I1311688040","https://openalex.org/I4210089985"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yu Luo","raw_affiliation_strings":["Amazon"],"affiliations":[{"raw_affiliation_string":"Amazon","institution_ids":["https://openalex.org/I4210089985"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100356000","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-8369-6175"},"institutions":[{"id":"https://openalex.org/I4210089985","display_name":"Amazon (Germany)","ror":"https://ror.org/00b9ktm87","country_code":"DE","type":"company","lineage":["https://openalex.org/I1311688040","https://openalex.org/I4210089985"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Amazon"],"affiliations":[{"raw_affiliation_string":"Amazon","institution_ids":["https://openalex.org/I4210089985"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043147741"],"corresponding_institution_ids":["https://openalex.org/I4210089985"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07309364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"5336","last_page":"5343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6931359171867371},{"id":"https://openalex.org/keywords/frustum","display_name":"Frustum","score":0.686690628528595},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6697111129760742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6595968008041382},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6511445045471191},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6222073435783386},{"id":"https://openalex.org/keywords/ode","display_name":"Ode","score":0.5952540636062622},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5392893552780151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5341953635215759},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5154436826705933},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5134314298629761},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.4330633878707886},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.42129743099212646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39941054582595825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39065244793891907},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35347747802734375},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.2971157133579254},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22659838199615479},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08876749873161316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08722829818725586}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6931359171867371},{"id":"https://openalex.org/C97402662","wikidata":"https://www.wikidata.org/wiki/Q846235","display_name":"Frustum","level":2,"score":0.686690628528595},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6697111129760742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6595968008041382},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6511445045471191},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6222073435783386},{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.5952540636062622},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5392893552780151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5341953635215759},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5154436826705933},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5134314298629761},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.4330633878707886},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.42129743099212646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39941054582595825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39065244793891907},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35347747802734375},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.2971157133579254},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22659838199615479},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08876749873161316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08722829818725586},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636833","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2005189214","https://openalex.org/W2021851106","https://openalex.org/W2043111236","https://openalex.org/W2128019145","https://openalex.org/W2150066425","https://openalex.org/W2250172176","https://openalex.org/W2471969791","https://openalex.org/W2767986757","https://openalex.org/W2789218862","https://openalex.org/W2797395780","https://openalex.org/W2909157769","https://openalex.org/W2963233640","https://openalex.org/W2982031871","https://openalex.org/W3089936780","https://openalex.org/W3098486636","https://openalex.org/W6770116788"],"related_works":["https://openalex.org/W4289815017","https://openalex.org/W2065795160","https://openalex.org/W2047933837","https://openalex.org/W2902617670","https://openalex.org/W2347325618","https://openalex.org/W4297193075","https://openalex.org/W3147274046","https://openalex.org/W2125061324","https://openalex.org/W2907848307","https://openalex.org/W2115696586"],"abstract_inverted_index":{"Localization":[0],"is":[1,25,33,143],"an":[2],"essential":[3],"module":[4,24],"that":[5,21,63,164],"supports":[6],"many":[7],"intelligent":[8],"functions":[9],"of":[10,35,55,138,158,174,188],"a":[11,22,60,79,114,117,162],"mobile":[12],"robot":[13],"such":[14],"as":[15,136],"transportation":[16],"or":[17],"inspection.":[18],"However,":[19],"justifying":[20],"localization":[23,181],"sufficiently":[26],"accurate":[27],"for":[28,126],"supporting":[29],"all":[30],"downstream":[31],"tasks":[32],"one":[34],"the":[36,52,66,92,103,122,129,133,139,141,146,150,156,172,178,186,196],"most":[37],"difficult":[38],"questions":[39],"to":[40,102,109,145,166],"answer":[41],"in":[42,161,177],"practice.":[43],"To":[44],"overcome":[45],"this":[46,75,111,189],"problem,":[47],"we":[48,77,83],"move":[49],"away":[50],"from":[51],"traditional":[53],"calculation":[54],"pose":[56,73,159],"errors":[57],"and":[58,121,132,149,169,182,195],"propose":[59,78],"new":[61,80,190],"approach":[62],"instead":[64],"evaluates":[65],"potential":[67,187],"map":[68,134,167],"inconsistency":[69],"introduced":[70],"by":[71],"those":[72],"errors.For":[74],"purpose,":[76],"metric,":[81,140],"which":[82],"call":[84],"Overlap":[85],"Displacement":[86],"Error":[87],"(ODE).":[88],"This":[89,153],"metric":[90,112],"measures":[91],"relative":[93],"displacements":[94],"between":[95,180],"multiple":[96],"overlapping":[97],"sensor":[98,123,130],"frustums":[99],"with":[100],"respect":[101],"ground":[104,118],"truth.":[105],"All":[106],"you":[107],"need":[108],"compute":[110],"are":[113],"query":[115],"trajectory,":[116],"truth":[119],"trajectory":[120],"frustum":[124,131],"used":[125],"mapping.":[127,183],"Having":[128],"representation":[135],"part":[137],"ODE":[142],"customized":[144],"hardware":[147],"configuration":[148],"mapping":[151],"strategy.":[152],"design":[154],"allows":[155,171],"analysis":[157,191],"accuracy":[160],"space":[163],"matters":[165],"creation,":[168],"also":[170],"identification":[173],"problems":[175],"sitting":[176],"interplay":[179],"We":[184],"demonstrate":[185],"tool":[192],"on":[193],"synthetic":[194],"real-world":[197],"sequences.":[198]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
