{"id":"https://openalex.org/W2793939468","doi":"https://doi.org/10.1109/itsc.2017.8317844","title":"Linear-complexity stochastic variational Bayes inference for SLAM","display_name":"Linear-complexity stochastic variational Bayes inference for SLAM","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2793939468","doi":"https://doi.org/10.1109/itsc.2017.8317844","mag":"2793939468"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2017.8317844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2017.8317844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 20th International 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/A5102931684","display_name":"Xiaoyue Jiang","orcid":"https://orcid.org/0000-0002-4700-0679"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Xiaoyue Jiang","raw_affiliation_strings":["Centre for System Intelligence and Efficiency (EXQUISITUS), Nanyang Technological University Singapore"],"affiliations":[{"raw_affiliation_string":"Centre for System Intelligence and Efficiency (EXQUISITUS), Nanyang Technological University Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018319213","display_name":"Michael Hoy","orcid":"https://orcid.org/0009-0003-0718-8827"},"institutions":[{"id":"https://openalex.org/I4210123532","display_name":"Nordic Transport Development","ror":"https://ror.org/0295ktr04","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210123532"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Michael Hoy","raw_affiliation_strings":["ST Engineering - NTU Corporate Lab"],"affiliations":[{"raw_affiliation_string":"ST Engineering - NTU Corporate Lab","institution_ids":["https://openalex.org/I4210123532"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432180","display_name":"Hang Yu","orcid":"https://orcid.org/0000-0002-5639-0912"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hang Yu","raw_affiliation_strings":["Nanyang Technological University, Singapore, Singapore, SG"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore, Singapore, SG","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082613025","display_name":"Justin Dauwels","orcid":"https://orcid.org/0000-0002-4390-1568"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I4210123532","display_name":"Nordic Transport Development","ror":"https://ror.org/0295ktr04","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210123532"]}],"countries":["DK","SG"],"is_corresponding":false,"raw_author_name":"Justin Dauwels","raw_affiliation_strings":["Centre for System Intelligence and Efficiency (EXQUISITUS), Nanyang Technological University Singapore","ST Engineering - NTU Corporate Lab"],"affiliations":[{"raw_affiliation_string":"Centre for System Intelligence and Efficiency (EXQUISITUS), Nanyang Technological University Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"ST Engineering - NTU Corporate Lab","institution_ids":["https://openalex.org/I4210123532"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102931684"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.1775,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89856588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34 3","issue":null,"first_page":"1","last_page":"6"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9940999746322632,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9922000169754028,"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/bayes-theorem","display_name":"Bayes' theorem","score":0.7649731636047363},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6548619270324707},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.649604856967926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6124633550643921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.526561975479126},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5073794722557068},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.4583527147769928},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4582383632659912},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44327279925346375},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4039291441440582},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33221858739852905},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32430416345596313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2926594614982605},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10766062140464783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10290935635566711}],"concepts":[{"id":"https://openalex.org/C207201462","wikidata":"https://www.wikidata.org/wiki/Q182505","display_name":"Bayes' theorem","level":3,"score":0.7649731636047363},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6548619270324707},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.649604856967926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6124633550643921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.526561975479126},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5073794722557068},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.4583527147769928},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4582383632659912},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44327279925346375},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4039291441440582},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33221858739852905},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32430416345596313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2926594614982605},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10766062140464783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10290935635566711},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2017.8317844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2017.8317844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1955368298","https://openalex.org/W1968315983","https://openalex.org/W1968354298","https://openalex.org/W1977464512","https://openalex.org/W1992159044","https://openalex.org/W1994616650","https://openalex.org/W2019821607","https://openalex.org/W2021851106","https://openalex.org/W2036082694","https://openalex.org/W2046033161","https://openalex.org/W2073660060","https://openalex.org/W2080823437","https://openalex.org/W2091790851","https://openalex.org/W2113425768","https://openalex.org/W2146123848","https://openalex.org/W2148820580","https://openalex.org/W2150807068","https://openalex.org/W2152671441","https://openalex.org/W2154280780","https://openalex.org/W2165468899","https://openalex.org/W2243507760","https://openalex.org/W2510515966","https://openalex.org/W2964121744","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W2407375987","https://openalex.org/W2505726097","https://openalex.org/W2950975704","https://openalex.org/W2010643158","https://openalex.org/W3049691116","https://openalex.org/W2106867672","https://openalex.org/W4310268968","https://openalex.org/W3081214562","https://openalex.org/W2753713401","https://openalex.org/W2053745677"],"abstract_inverted_index":{"The":[0,99],"simultaneous":[1],"localization":[2],"and":[3,34,42,95,113],"mapping":[4],"(SLAM)":[5],"problem":[6],"is":[7,72],"concerned":[8],"with":[9],"using":[10,64],"sensor":[11],"data":[12,94],"to":[13,46,81,123],"build":[14],"an":[15,21,77],"environmental":[16],"map,":[17],"while":[18],"also":[19,75],"localizing":[20],"autonomous":[22],"agent":[23],"within":[24],"this":[25,50],"map.":[26],"Two":[27],"approaches":[28],"are":[29,89],"currently":[30],"prevalent":[31],"(Bayesian":[32],"filtering":[33],"graph-based":[35],"optimization),":[36],"however":[37],"these":[38],"both":[39,92],"involve":[40],"approximations":[41],"have":[43],"the":[44,68,83,86],"potential":[45],"be":[47],"improved.":[48],"In":[49],"paper,":[51],"we":[52],"propose":[53],"novel":[54],"high-performance":[55],"SLAM":[56],"algorithms":[57],"derived":[58],"from":[59],"variational":[60],"Bayes":[61,79],"inference.":[62,87],"By":[63],"mean-field":[65],"type":[66],"approximations,":[67],"resulting":[69],"computational":[70],"complexity":[71],"linear.":[73],"We":[74],"add":[76],"empirical":[78],"assumption":[80],"improve":[82],"flexibility":[84],"of":[85],"Experiments":[88],"conducted":[90],"on":[91,110,118],"synthetic":[93,111],"real":[96,119],"RGB-D":[97],"images.":[98],"proposed":[100],"approach":[101],"achieves":[102],"42%":[103],"average":[104,115],"error":[105,116],"reduction":[106,117],"in":[107],"all":[108],"scenarios":[109],"data,":[112],"26%":[114],"images":[120],"(with":[121],"respect":[122],"two":[124],"other":[125],"baseline":[126],"algorithms).":[127]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}