{"id":"https://openalex.org/W4405787260","doi":"https://doi.org/10.1109/iros58592.2024.10802235","title":"CBGL: Fast Monte Carlo Passive Global Localisation of 2D LIDAR Sensor","display_name":"CBGL: Fast Monte Carlo Passive Global Localisation of 2D LIDAR Sensor","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787260","doi":"https://doi.org/10.1109/iros58592.2024.10802235"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802235","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5005923653","display_name":"Alexandros Filotheou","orcid":"https://orcid.org/0000-0003-2599-0752"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Alexandros Filotheou","raw_affiliation_strings":["Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5005923653"],"corresponding_institution_ids":["https://openalex.org/I21370196"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3268","last_page":"3275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9937999844551086,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8322892189025879},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.7360318303108215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.55259108543396},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5125148296356201},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1972803771495819},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07598879933357239},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06383076310157776}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8322892189025879},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.7360318303108215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.55259108543396},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5125148296356201},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1972803771495819},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07598879933357239},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06383076310157776}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802235","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2024039087","https://openalex.org/W2130763585","https://openalex.org/W2284029970","https://openalex.org/W2360714575","https://openalex.org/W2563604660","https://openalex.org/W2771000617","https://openalex.org/W2804955612","https://openalex.org/W2892028890","https://openalex.org/W2909671763","https://openalex.org/W2945710369","https://openalex.org/W2973485078","https://openalex.org/W3003562044","https://openalex.org/W3007240855","https://openalex.org/W3082309122","https://openalex.org/W3118576301","https://openalex.org/W3126857668","https://openalex.org/W3130934167","https://openalex.org/W3176428617","https://openalex.org/W3183737915","https://openalex.org/W4206994354","https://openalex.org/W4249866455","https://openalex.org/W4285114669","https://openalex.org/W4285192725","https://openalex.org/W4312959823","https://openalex.org/W4313148639","https://openalex.org/W4313572623","https://openalex.org/W4315778466","https://openalex.org/W4367043347","https://openalex.org/W4381785839","https://openalex.org/W4392515775","https://openalex.org/W6795585628"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Navigation":[0],"of":[1,10,30,37,92,100,114,117,133,154,157,161],"a":[2,82,118],"mobile":[3],"robot":[4],"is":[5,171],"conditioned":[6],"on":[7],"the":[8,28,35,86,90,93,101,112,148],"knowledge":[9],"its":[11,17,31],"pose.":[12],"In":[13],"observer-based":[14],"localisation":[15,39],"configurations":[16],"initial":[18],"pose":[19,115,128,162],"may":[20,54,69],"not":[21],"be":[22,57,70],"knowable":[23],"in":[24,135,159],"advance,":[25],"leading":[26],"to":[27,34,72,111],"need":[29],"estimation.":[32],"Solutions":[33],"problem":[36],"global":[38],"are":[40],"either":[41],"robust":[42],"against":[43],"noise":[44],"and":[45,51,74,77,88,122,137,143,165],"environment":[46],"arbitrariness":[47],"but":[48,65],"require":[49,61],"motion":[50],"time,":[52],"which":[53],"(need":[55],"to)":[56],"economised":[58],"on,":[59],"or":[60],"minimal":[62],"estimation":[63],"time":[64],"assume":[66],"environmental":[67],"structure,":[68],"sensitive":[71],"noise,":[73],"demand":[75],"preprocessing":[76],"tuning.":[78],"This":[79],"article":[80],"proposes":[81],"method":[83,97,150],"that":[84,147],"retains":[85],"strengths":[87],"avoids":[89],"weaknesses":[91],"two":[94],"approaches.":[95],"The":[96,168],"leverages":[98],"properties":[99],"Cumulative":[102],"Absolute":[103],"Error":[104],"per":[105],"Ray":[106],"(CAER)":[107],"metric":[108],"with":[109],"respect":[110],"errors":[113],"hypotheses":[116],"2D":[119],"LIDAR":[120],"sensor,":[121],"utilises":[123],"scan\u2013to\u2013map-scan":[124],"matching":[125],"for":[126,173],"fine(r)":[127],"estimations.":[129],"A":[130],"large":[131],"number":[132],"tests,":[134],"real":[136],"simulated":[138],"conditions,":[139],"involving":[140],"disparate":[141],"environments":[142],"sensor":[144],"properties,":[145],"illustrate":[146],"proposed":[149],"outperforms":[151],"state-of-the-art":[152],"methods":[153],"both":[155],"classes":[156],"solutions":[158],"terms":[160],"discovery":[163],"rate":[164],"execution":[166],"time.":[167],"source":[169],"code":[170],"available":[172],"download.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}