{"id":"https://openalex.org/W2120593160","doi":"https://doi.org/10.1109/itsc.2011.6083064","title":"A chained form state representation for outdoor vehicle localisation","display_name":"A chained form state representation for outdoor vehicle localisation","publication_year":2011,"publication_date":"2011-10-01","ids":{"openalex":"https://openalex.org/W2120593160","doi":"https://doi.org/10.1109/itsc.2011.6083064","mag":"2120593160"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2011.6083064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2011.6083064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","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/A5108373793","display_name":"Ch\u00e9rif Smaili","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Cherif Smaili","raw_affiliation_strings":["LAGIS-CNRS UMR 8146 Polytech'Lille, Villeneuve D\u2019Ascq Cedex, France","LAGIS-CNRS UMR 8146 Polytech'Lille, Avenue Paul Langevin 59650 Villeneuve D'Ascq Cedex France"],"affiliations":[{"raw_affiliation_string":"LAGIS-CNRS UMR 8146 Polytech'Lille, Villeneuve D\u2019Ascq Cedex, France","institution_ids":["https://openalex.org/I4210143894","https://openalex.org/I1294671590","https://openalex.org/I4210154774"]},{"raw_affiliation_string":"LAGIS-CNRS UMR 8146 Polytech'Lille, Avenue Paul Langevin 59650 Villeneuve D'Ascq Cedex France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109870765","display_name":"Maan E. El Najjar","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maan E. El Najjar","raw_affiliation_strings":["LAGIS-CNRS UMR 8146 Polytech'Lille, Villeneuve D\u2019Ascq Cedex, France","LAGIS-CNRS UMR 8146 Polytech'Lille, Avenue Paul Langevin 59650 Villeneuve D'Ascq Cedex France"],"affiliations":[{"raw_affiliation_string":"LAGIS-CNRS UMR 8146 Polytech'Lille, Villeneuve D\u2019Ascq Cedex, France","institution_ids":["https://openalex.org/I4210143894","https://openalex.org/I1294671590","https://openalex.org/I4210154774"]},{"raw_affiliation_string":"LAGIS-CNRS UMR 8146 Polytech'Lille, Avenue Paul Langevin 59650 Villeneuve D'Ascq Cedex France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103767292","display_name":"Charpillet Francois","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Charpillet Francois","raw_affiliation_strings":["MAIA INRIA Nancy Grand EST, Loria Campus, Vandoeuvre-les - Nancy, France","MAIA, INRIA Nancy Grand EST, Loria Campus, Scientifique BP 239 54506 Vandoeuvre-les, - Nancy, France"],"affiliations":[{"raw_affiliation_string":"MAIA INRIA Nancy Grand EST, Loria Campus, Vandoeuvre-les - Nancy, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210121838"]},{"raw_affiliation_string":"MAIA, INRIA Nancy Grand EST, Loria Campus, Scientifique BP 239 54506 Vandoeuvre-les, - Nancy, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210121838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108373793"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210143894","https://openalex.org/I4210154774"],"apc_list":null,"apc_paid":null,"fwci":0.2616,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60695656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"270 2001","issue":null,"first_page":"1386","last_page":"1391"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9987999796867371,"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/kalman-filter","display_name":"Kalman filter","score":0.8491283059120178},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7525519132614136},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.703669548034668},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.7024411559104919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6965335607528687},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.6934607625007629},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6231614351272583},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5550680756568909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5232516527175903},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4708618223667145},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.45278874039649963},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43191877007484436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28373855352401733},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15439268946647644},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10350573062896729},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10140293836593628},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.08262243866920471}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8491283059120178},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7525519132614136},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.703669548034668},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.7024411559104919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6965335607528687},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.6934607625007629},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6231614351272583},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5550680756568909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5232516527175903},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4708618223667145},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.45278874039649963},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43191877007484436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28373855352401733},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15439268946647644},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10350573062896729},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10140293836593628},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.08262243866920471},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2011.6083064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2011.6083064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)","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":18,"referenced_works":["https://openalex.org/W153294671","https://openalex.org/W1561837455","https://openalex.org/W1887006513","https://openalex.org/W2099544223","https://openalex.org/W2110575115","https://openalex.org/W2116676690","https://openalex.org/W2127988032","https://openalex.org/W2153532417","https://openalex.org/W2169712146","https://openalex.org/W2317928680","https://openalex.org/W2491009754","https://openalex.org/W2569554003","https://openalex.org/W3022404379","https://openalex.org/W4285719527","https://openalex.org/W6633732797","https://openalex.org/W6674945830","https://openalex.org/W6677484981","https://openalex.org/W6681158678"],"related_works":["https://openalex.org/W3036780875","https://openalex.org/W2145874287","https://openalex.org/W3042105824","https://openalex.org/W2363917672","https://openalex.org/W2329531155","https://openalex.org/W2483158495","https://openalex.org/W2902283662","https://openalex.org/W2137183867","https://openalex.org/W2326815100","https://openalex.org/W4206024512"],"abstract_inverted_index":{"In":[0,73],"this":[1,74],"paper,":[2,75],"we":[3,76],"tackle":[4],"the":[5,88,115],"outdoor":[6],"localization":[7],"problem":[8],"for":[9,38,42],"autonomous":[10],"vehicle":[11,14,44,96],"navigation.":[12],"A":[13],"can":[15],"be":[16],"represented":[17],"by":[18,92],"a":[19,25,99,126],"unicycle":[20],"kinematic":[21],"model":[22,50],"which":[23],"is":[24,105,136],"non":[26],"holonomic":[27],"one.":[28],"The":[29,46],"use":[30,79],"of":[31,48,56,114],"Kalman":[32,58,63,67,122,130,134],"filter":[33,64,68,123,131,135],"has":[34],"been":[35],"extensively":[36],"used":[37,106],"multi-sensor":[39],"data":[40],"fusion":[41],"robotized":[43],"localization.":[45],"non-linearity":[47],"evolution":[49],"gave":[51],"raise":[52],"to":[53,78,86,109],"several":[54],"extensions":[55],"classical":[57],"filters":[59],"such":[60],"as":[61],"extended":[62,129],"and":[65,103,112,132],"unscented":[66,133],"or":[69],"other":[70],"approximative":[71,89],"method.":[72],"propose":[77],"chained":[80,127],"form":[81],"state":[82],"representation":[83],"in":[84,107],"order":[85,108],"avoid":[87],"linearization":[90],"made":[91],"approximate":[93],"methods.":[94],"Experimental":[95],"equipped":[97],"with":[98],"GPS,":[100],"wheel":[101],"encoders":[102],"gyroscope":[104],"test":[110],"performance":[111,119],"validity":[113],"proposed":[116],"approach.":[117],"Finally,":[118],"comparison":[120],"between":[121],"applied":[124],"on":[125],"form,":[128],"presented.":[137]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}