{"id":"https://openalex.org/W1903735814","doi":"https://doi.org/10.1109/mfi.2015.7295738","title":"A stochastic filter for planar rigid-body motions","display_name":"A stochastic filter for planar rigid-body motions","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1903735814","doi":"https://doi.org/10.1109/mfi.2015.7295738","mag":"1903735814"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2015.7295738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2015.7295738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","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/A5078356081","display_name":"Igor Gilitschenski","orcid":"https://orcid.org/0000-0001-6426-365X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Igor Gilitschenski","raw_affiliation_strings":["Autonomous Systems Laboratory (ASL) Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology (ETH) Zurich, 8092 Zurich, Switzerland","Autonomous Systems Laboratory (ASL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH) Zurich, 8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL) Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology (ETH) Zurich, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Laboratory (ASL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH) Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090400995","display_name":"Gerhard Kurz","orcid":"https://orcid.org/0000-0003-4578-5406"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Kurz","raw_affiliation_strings":["Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute of Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute of Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055331421","display_name":"Uwe D. Hanebeck","orcid":"https://orcid.org/0000-0001-9870-2331"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe D. Hanebeck","raw_affiliation_strings":["Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute of Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute of Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0288,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77408169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"sl 4","issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9984999895095825,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/planar","display_name":"Planar","score":0.6999114155769348},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6271257996559143},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5994093418121338},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5981430411338806},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5888475775718689},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5804958343505859},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5752683281898499},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5175004005432129},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.495959609746933},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44420450925827026},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4352302551269531},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3680356442928314},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35081613063812256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23515576124191284},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1377497911453247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11688140034675598},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10783880949020386}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6999114155769348},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6271257996559143},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5994093418121338},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5981430411338806},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5888475775718689},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5804958343505859},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5752683281898499},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5175004005432129},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.495959609746933},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44420450925827026},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4352302551269531},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3680356442928314},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35081613063812256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23515576124191284},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1377497911453247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11688140034675598},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10783880949020386},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2015.7295738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2015.7295738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","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":39,"referenced_works":["https://openalex.org/W90962198","https://openalex.org/W1500796970","https://openalex.org/W1526344305","https://openalex.org/W1527786550","https://openalex.org/W1672145121","https://openalex.org/W1872113033","https://openalex.org/W1964682774","https://openalex.org/W1966307629","https://openalex.org/W2006025735","https://openalex.org/W2040040776","https://openalex.org/W2063698478","https://openalex.org/W2070216603","https://openalex.org/W2121754060","https://openalex.org/W2121990344","https://openalex.org/W2122093596","https://openalex.org/W2123487311","https://openalex.org/W2131752723","https://openalex.org/W2137043637","https://openalex.org/W2140268640","https://openalex.org/W2145080288","https://openalex.org/W2152607034","https://openalex.org/W2152699771","https://openalex.org/W2160204131","https://openalex.org/W2161872204","https://openalex.org/W2198955913","https://openalex.org/W2316237370","https://openalex.org/W2332793778","https://openalex.org/W2339082909","https://openalex.org/W3127613093","https://openalex.org/W4213099427","https://openalex.org/W4229748564","https://openalex.org/W4246202668","https://openalex.org/W6629927905","https://openalex.org/W6631404734","https://openalex.org/W6637122931","https://openalex.org/W6639416718","https://openalex.org/W6641824503","https://openalex.org/W6687781503","https://openalex.org/W6790530550"],"related_works":["https://openalex.org/W2010009304","https://openalex.org/W2553468687","https://openalex.org/W3021694725","https://openalex.org/W2953137247","https://openalex.org/W1996851061","https://openalex.org/W2940695648","https://openalex.org/W1973684381","https://openalex.org/W2096304864","https://openalex.org/W4251403274","https://openalex.org/W2963114044"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,35,55],"novel":[4],"algorithm":[5],"for":[6,54],"the":[7,26,51,70,93,97],"estimation":[8],"of":[9,42],"planar":[10],"rigid-body":[11],"motions.":[12],"It":[13],"is":[14,22],"based":[15],"on":[16,25,33],"using":[17],"probability":[19],"distribution":[20],"that":[21,39,50,83],"inherently":[23],"defined":[24],"nonlinear":[27],"manifold":[28,56],"representing":[29],"these":[30],"motions":[31],"and":[32,80],"proposing":[34],"deterministic":[36],"sampling":[37],"scheme":[38],"makes":[40],"consideration":[41],"complicated":[43],"system":[44],"models":[45],"possible.":[46],"Furthermore,":[47],"we":[48,89],"show":[49,90],"measurement":[52],"update":[53],"equivalent":[57],"to":[58,77,96],"noisy":[59],"direct":[60],"measurements":[61],"can":[62],"be":[63],"carried":[64],"out":[65],"in":[66],"closed":[67],"form.":[68],"Thus,":[69],"resulting":[71],"method":[72],"avoids":[73],"errors":[74],"made":[75],"due":[76],"local":[78],"linearization":[79],"outperforms":[81],"methods":[82],"wrongly":[84],"assume":[85],"Gaussian":[86],"distributions,":[87],"which":[88],"by":[91],"comparing":[92],"proposed":[94],"filter":[95],"UKF.":[98]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}