{"id":"https://openalex.org/W4285512267","doi":"https://doi.org/10.1109/lra.2021.3139370","title":"A Right Invariant Extended Kalman Filter for Object Based SLAM","display_name":"A Right Invariant Extended Kalman Filter for Object Based SLAM","publication_year":2021,"publication_date":"2021-12-31","ids":{"openalex":"https://openalex.org/W4285512267","doi":"https://doi.org/10.1109/lra.2021.3139370"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3139370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5001077920","display_name":"Yang Song","orcid":"https://orcid.org/0000-0002-5915-9230"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Yang Song","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5915-9230","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101585673","display_name":"Zhuqing Zhang","orcid":"https://orcid.org/0000-0001-7625-0119"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuqing Zhang","raw_affiliation_strings":["State key Laboratory of Industrial Control and Technology, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0001-7625-0119","affiliations":[{"raw_affiliation_string":"State key Laboratory of Industrial Control and Technology, Zhejiang University, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078485305","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-0468-8610"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["State key Laboratory of Industrial Control and Technology, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-0468-8610","affiliations":[{"raw_affiliation_string":"State key Laboratory of Industrial Control and Technology, Zhejiang University, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State key Laboratory of Industrial Control and Technology, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"State key Laboratory of Industrial Control and Technology, Zhejiang University, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069782955","display_name":"Liang Zhao","orcid":"https://orcid.org/0000-0003-4063-8183"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liang Zhao","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4063-8183","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-6124-4178","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney,, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001077920"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":27.3711,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99247933,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"1316","last_page":"1323"},"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":0.9976000189781189,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9902999997138977,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8595407009124756},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.694340705871582},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6707431077957153},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6430314183235168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6220732927322388},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.5780353546142578},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5597774982452393},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5574402213096619},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5452795624732971},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4636249542236328},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4632590413093567},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4514823853969574},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3394336402416229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2770875096321106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17371925711631775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15284177660942078}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8595407009124756},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.694340705871582},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6707431077957153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6430314183235168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6220732927322388},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.5780353546142578},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5597774982452393},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5574402213096619},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5452795624732971},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4636249542236328},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4632590413093567},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4514823853969574},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3394336402416229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2770875096321106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17371925711631775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15284177660942078},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3139370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2586965523","display_name":null,"funder_award_id":"61903332","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5262231350","display_name":null,"funder_award_id":"62173293","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W194206487","https://openalex.org/W1526868886","https://openalex.org/W1570939900","https://openalex.org/W1764149764","https://openalex.org/W1943808550","https://openalex.org/W1951265541","https://openalex.org/W1970504153","https://openalex.org/W2011754354","https://openalex.org/W2027055074","https://openalex.org/W2064451896","https://openalex.org/W2097696373","https://openalex.org/W2111295154","https://openalex.org/W2112082021","https://openalex.org/W2153054365","https://openalex.org/W2158090912","https://openalex.org/W2162731263","https://openalex.org/W2165468899","https://openalex.org/W2215394929","https://openalex.org/W2482726005","https://openalex.org/W2565472677","https://openalex.org/W2569720095","https://openalex.org/W2727085722","https://openalex.org/W2782939895","https://openalex.org/W2810111536","https://openalex.org/W2900470576","https://openalex.org/W2906667343","https://openalex.org/W2938672559","https://openalex.org/W2963188159","https://openalex.org/W3043971245","https://openalex.org/W3093548137","https://openalex.org/W3098467253","https://openalex.org/W3125449081","https://openalex.org/W3135435163","https://openalex.org/W4285512267","https://openalex.org/W6688465322","https://openalex.org/W6801258727"],"related_works":["https://openalex.org/W2149686805","https://openalex.org/W4294689033","https://openalex.org/W4226462367","https://openalex.org/W1978158123","https://openalex.org/W2967463586","https://openalex.org/W2110359509","https://openalex.org/W2732221248","https://openalex.org/W791889001","https://openalex.org/W2025083058","https://openalex.org/W164235053"],"abstract_inverted_index":{"With":[0],"the":[1,21,29,60,65,85,100,105,110,113,125],"recent":[2],"advance":[3],"of":[4,23,104,112,124],"deep":[5],"learning":[6],"based":[7,35,51,73,118],"object":[8,17,25,50,117],"recognition":[9],"and":[10,93,102],"estimation,":[11],"it":[12],"is":[13,26,53,127],"possible":[14],"to":[15,89],"consider":[16],"level":[18],"SLAM":[19,30,52,74,119],"where":[20],"pose":[22],"each":[24],"estimated":[27],"in":[28,80],"process.":[31],"In":[32],"this":[33],"letter,":[34],"on":[36],"a":[37,42,81],"novel":[38],"Lie":[39],"group":[40],"structure,":[41],"right":[43],"invariant":[44],"extended":[45],"Kalman":[46],"filter":[47],"(RI-EKF)":[48],"for":[49,84,116],"proposed.":[54],"The":[55,121],"observability":[56],"analysis":[57],"shows":[58],"that":[59],"proposed":[61,86,106,114],"algorithm":[62,75,87,126],"automatically":[63],"maintains":[64],"correct":[66],"unobservable":[67],"subspace,":[68],"while":[69],"standard":[70],"EKF":[71],"(Std-EKF)":[72],"does":[76],"not.":[77],"This":[78],"results":[79],"better":[82],"consistency":[83,101],"comparing":[88],"Std-EKF.":[90],"Finally,":[91],"simulations":[92],"real":[94],"world":[95],"experiments":[96],"validate":[97],"not":[98],"only":[99],"accuracy":[103],"algorithm,":[107],"but":[108],"also":[109],"practicability":[111],"RI-EKF":[115],"problem.":[120],"MATLAB":[122],"code":[123],"made":[128],"publicly":[129],"available.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}