{"id":"https://openalex.org/W2129000308","doi":"https://doi.org/10.1109/robio.2009.4913262","title":"Global localization of mobile robots by reverse projection of sensor readings","display_name":"Global localization of mobile robots by reverse projection of sensor readings","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2129000308","doi":"https://doi.org/10.1109/robio.2009.4913262","mag":"2129000308"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5009280358","display_name":"Hemanth Korrapati","orcid":"https://orcid.org/0000-0002-8866-4252"},"institutions":[{"id":"https://openalex.org/I26072440","display_name":"Indian Institute of Information Technology Allahabad","ror":"https://ror.org/03rgjt374","country_code":"IN","type":"education","lineage":["https://openalex.org/I26072440"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"H. Korrapati","raw_affiliation_strings":["Indian Institute of Information Technology, Hyderabad, India","IIIT Hyderabad,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I26072440"]},{"raw_affiliation_string":"IIIT Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]},{"id":"https://openalex.org/I26072440","display_name":"Indian Institute of Information Technology Allahabad","ror":"https://ror.org/03rgjt374","country_code":"IN","type":"education","lineage":["https://openalex.org/I26072440"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K.M. Krishna","raw_affiliation_strings":["Indian Institute of Information Technology, Hyderabad, India","IIIT Hyderabad,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I26072440"]},{"raw_affiliation_string":"IIIT Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053411136","display_name":"A. Kalyan Teja","orcid":null},"institutions":[{"id":"https://openalex.org/I26072440","display_name":"Indian Institute of Information Technology Allahabad","ror":"https://ror.org/03rgjt374","country_code":"IN","type":"education","lineage":["https://openalex.org/I26072440"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"A. Teja","raw_affiliation_strings":["Indian Institute of Information Technology, Hyderabad, India","IIIT Hyderabad,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I26072440"]},{"raw_affiliation_string":"IIIT Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009280358"],"corresponding_institution_ids":["https://openalex.org/I26072440","https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11222142,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"1728","last_page":"1733"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"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/boundary","display_name":"Boundary (topology)","score":0.6789377927780151},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6616592407226562},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6246218681335449},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.598111629486084},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5884487628936768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5641592144966125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5422959327697754},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5348910689353943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5250306725502014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4789300858974457},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.42465803027153015},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4214692711830139},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3852894902229309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3079034388065338},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14551913738250732},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1309925615787506}],"concepts":[{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6789377927780151},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6616592407226562},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6246218681335449},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.598111629486084},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5884487628936768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641592144966125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5422959327697754},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5348910689353943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5250306725502014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4789300858974457},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.42465803027153015},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4214692711830139},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3852894902229309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3079034388065338},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14551913738250732},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1309925615787506},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W73143588","https://openalex.org/W122185409","https://openalex.org/W1488766761","https://openalex.org/W1489258026","https://openalex.org/W1767759333","https://openalex.org/W1971836159","https://openalex.org/W1973876344","https://openalex.org/W2088946522","https://openalex.org/W2102621601","https://openalex.org/W2137726656","https://openalex.org/W2160584648","https://openalex.org/W2162830992","https://openalex.org/W6603031904","https://openalex.org/W6637645333"],"related_works":["https://openalex.org/W2281433634","https://openalex.org/W3009037905","https://openalex.org/W2012743301","https://openalex.org/W2417636454","https://openalex.org/W1514802394","https://openalex.org/W2385065981","https://openalex.org/W4210890004","https://openalex.org/W2134716234","https://openalex.org/W1551392715","https://openalex.org/W2532413152"],"abstract_inverted_index":{"Global":[0],"localization":[1],"algorithms":[2],"involve":[3],"a":[4,18,28,46,65,79,105,168],"search":[5,80,88],"over":[6,17,71,89],"all":[7],"possible":[8],"poses":[9],"of":[10,41,74,98,158],"the":[11,35,42,55,59,63,72,82,96,119,123,126,130,139,159],"robot":[12,171],"that":[13,116],"can":[14],"be":[15],"typically":[16],"large":[19],"space":[20,73,100,103,121,125],"in":[21,45,49,81,104,155,172],"huge":[22],"maps.":[23],"Essentially":[24],"it":[25],"involves":[26],"computing":[27],"posterior":[29],"by":[30,52,69,78],"seeing":[31],"how":[32],"probable":[33],"are":[34,152],"obtained":[36,68],"sensor":[37,56],"readings":[38,57],"at":[39],"each":[40],"discretized":[43,83],"states":[44],"map.":[47],"Instead":[48],"this":[50,87],"paper":[51],"reverse":[53],"projecting":[54],"from":[58],"obstacle":[60,75,90],"boundaries":[61,76,91],"onto":[62],"surroundings,":[64],"solution":[66],"is":[67,92,107,109,163],"searching":[70],"than":[77],"pose":[84],"space.":[85],"That":[86],"considerably":[93],"less":[94],"if":[95],"ratio":[97],"free":[99,124],"to":[101,129,138,146,165],"boundary":[102,120],"map":[106],"high":[108],"straightforward.":[110],"However":[111],"we":[112],"also":[113],"show":[114],"theoretically":[115],"even":[117],"when":[118],"exceeds":[122],"computations":[127],"due":[128,137],"current":[131],"method":[132],"does":[133],"not":[134],"exceed":[135],"those":[136],"popular":[140],"Markov":[141],"and":[142],"Correlation":[143],"based":[144],"approaches":[145],"global":[147],"localization.":[148],"The":[149,161],"comparative":[150],"advantages":[151],"well":[153],"documented":[154],"simulation":[156],"section":[157],"paper.":[160],"approach":[162],"able":[164],"consistently":[166],"localize":[167],"laser":[169],"equipped":[170],"our":[173],"lab.":[174]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
