{"id":"https://openalex.org/W7136733446","doi":"https://doi.org/10.1109/itsc60802.2025.11423808","title":"NANO-SLAM: Natural Gradient Gaussian Approximation for Vehicle SLAM","display_name":"NANO-SLAM: Natural Gradient Gaussian Approximation for Vehicle SLAM","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W7136733446","doi":"https://doi.org/10.1109/itsc60802.2025.11423808"},"language":null,"primary_location":{"id":"doi:10.1109/itsc60802.2025.11423808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th 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/A5100385513","display_name":"Wenjie Zhang","orcid":"https://orcid.org/0000-0002-7470-3011"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianyi Zhang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102751432","display_name":"Wenhan Cao","orcid":"https://orcid.org/0009-0001-1367-4210"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhan Cao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129429819","display_name":"Chang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["College of Engineering, Peking University,Department of Advanced Manufacturing and Robotics,Beijing,China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University,Department of Advanced Manufacturing and Robotics,Beijing,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102322470","display_name":"Feihong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feihong Zhang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129628090","display_name":"Wei Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765837","display_name":"Zhiheng Li","orcid":"https://orcid.org/0000-0002-1523-1114"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility and College of Artificial Intelligence, Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility and College of Artificial Intelligence, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100385513"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.92247961,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4014","last_page":"4019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8952000141143799,"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":0.8952000141143799,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.014999999664723873,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.013899999670684338,"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/gaussian","display_name":"Gaussian","score":0.35100001096725464},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.33500000834465027},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.32010000944137573},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.28349998593330383},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.26809999346733093}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41600000858306885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3833000063896179},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3474999964237213},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.32190001010894775},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.32010000944137573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31209999322891235},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C115680565","wikidata":"https://www.wikidata.org/wiki/Q5977448","display_name":"Gradient method","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc60802.2025.11423808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1970789124","https://openalex.org/W2011754354","https://openalex.org/W2021063678","https://openalex.org/W2054288492","https://openalex.org/W2107093743","https://openalex.org/W2154202063","https://openalex.org/W2336416123","https://openalex.org/W2883819615","https://openalex.org/W2991452413","https://openalex.org/W3185507108","https://openalex.org/W4251960031","https://openalex.org/W4403446000","https://openalex.org/W7135195690"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"localization":[1,23,203,224],"is":[2],"a":[3,28,90,112,154],"challenging":[4],"task":[5],"for":[6],"autonomous":[7],"vehicles,":[8],"particularly":[9],"in":[10,110,223],"GPS-denied":[11],"environments":[12],"such":[13],"as":[14,59,120,174],"urban":[15],"canyons":[16],"and":[17,24,44,101,184,200],"tunnels.":[18],"In":[19],"these":[20],"scenarios,":[21],"simultaneous":[22],"mapping":[25],"(SLAM)":[26],"offers":[27],"more":[29],"robust":[30],"alternative":[31],"to":[32,37,68,76,106,124,141,177,227],"GPS-based":[33],"positioning,":[34],"enabling":[35],"vehicles":[36],"determine":[38],"their":[39],"position":[40],"using":[41,89,187],"onboard":[42],"sensors":[43],"surrounding":[45],"environment's":[46],"landmarks.":[47],"Among":[48],"various":[49],"vehicle":[50,87,156,213,232],"SLAM":[51,157,214,233],"approaches,":[52],"Rao-Blackwellized":[53],"particle":[54],"filter":[55],"(RBPF)":[56],"stands":[57],"out":[58],"one":[60],"of":[61,85,92,145,196],"the":[62,77,82,86,117,121,142,146,171,175,194,197,208,228],"most":[63,229],"widely":[64,230],"adopted":[65],"methods":[66,128],"due":[67,140],"its":[69],"efficient":[70],"solution":[71,176],"with":[72,235],"logarithmic":[73],"complexity":[74],"relative":[75],"map":[78],"size.":[79],"RBPF":[80],"approximates":[81,116],"posterior":[83],"distribution":[84,113,132,173,199],"pose":[88],"set":[91],"Monte":[93],"Carlo":[94],"particles":[95],"through":[96],"two":[97],"main":[98],"steps:":[99],"sampling":[100,108,122,172,198],"importance":[102],"weighting.":[103],"The":[104],"key":[105],"effective":[107],"lies":[109],"solving":[111,185],"that":[114,217],"closely":[115],"posterior,":[118],"known":[119],"distribution,":[123],"accelerate":[125],"convergence.":[126],"Existing":[127],"typically":[129],"derive":[130],"this":[131,150],"via":[133],"linearization,":[134],"which":[135,165],"introduces":[136],"significant":[137],"approximation":[138],"errors":[139,168],"inherent":[143],"nonlinearity":[144],"system.":[147],"To":[148],"address":[149],"limitation,":[151],"we":[152],"propose":[153],"novel":[155],"method":[158],"called":[159],"Natural":[160],"Gradient":[161],"Gaussian":[162,182],"Approximation":[163],"(NANO)-SLAM,":[164],"avoids":[166],"linearization":[167],"by":[169],"modeling":[170],"an":[178],"optimization":[179],"problem":[180],"over":[181,220],"parameters":[183],"it":[186],"natural":[188],"gradient":[189],"descent.":[190],"This":[191],"approach":[192],"improves":[193],"accuracy":[195,225],"consequently":[201],"enhances":[202],"performance.":[204],"Experimental":[205],"results":[206],"on":[207],"long-distance":[209],"Sydney":[210],"Victoria":[211],"Park":[212],"dataset":[215],"show":[216],"NANO-SLAM":[218],"achieves":[219],"50%":[221],"improvement":[222],"compared":[226],"used":[231],"algorithms,":[234],"minimal":[236],"additional":[237],"computational":[238],"cost.":[239]},"counts_by_year":[],"updated_date":"2026-03-18T06:27:02.140700","created_date":"2026-03-17T00:00:00"}