{"id":"https://openalex.org/W2150248167","doi":"https://doi.org/10.1109/robio.2010.5723425","title":"Range scan matching and Particle Filter based mobile robot SLAM","display_name":"Range scan matching and Particle Filter based mobile robot SLAM","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2150248167","doi":"https://doi.org/10.1109/robio.2010.5723425","mag":"2150248167"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5000449798","display_name":"Xiuzhi Li","orcid":"https://orcid.org/0000-0001-6778-9147"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiuzhi Li","raw_affiliation_strings":["College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101690223","display_name":"Wei Cui","orcid":"https://orcid.org/0000-0002-6857-3417"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Cui","raw_affiliation_strings":["College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103252095","display_name":"Songmin Jia","orcid":"https://orcid.org/0000-0003-2040-0848"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songmin Jia","raw_affiliation_strings":["College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000449798"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":5.168,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.94791091,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"779","last_page":"784"},"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":0.9984999895095825,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8578802347183228},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.8184855580329895},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7795813679695129},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7567070722579956},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7018408179283142},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.701048731803894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.638914942741394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6022158265113831},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5561714768409729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5001232624053955},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.4599655270576477},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.431610643863678}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8578802347183228},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.8184855580329895},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7795813679695129},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7567070722579956},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7018408179283142},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.701048731803894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.638914942741394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6022158265113831},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5561714768409729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5001232624053955},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.4599655270576477},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.431610643863678},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"},{"id":"https://openalex.org/F4320321913","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1489258026","https://openalex.org/W1635475619","https://openalex.org/W1961287201","https://openalex.org/W1990012555","https://openalex.org/W1999050017","https://openalex.org/W2049981393","https://openalex.org/W2099576286","https://openalex.org/W2112793821","https://openalex.org/W2115786103","https://openalex.org/W2118413201","https://openalex.org/W2120902740","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2133464237","https://openalex.org/W2161774902","https://openalex.org/W2163309052","https://openalex.org/W2336416123","https://openalex.org/W6676506760","https://openalex.org/W6678042943"],"related_works":["https://openalex.org/W2128655648","https://openalex.org/W1518703880","https://openalex.org/W1837108749","https://openalex.org/W2165929034","https://openalex.org/W2125308530","https://openalex.org/W2134351344","https://openalex.org/W2034836143","https://openalex.org/W1585960250","https://openalex.org/W2133062384","https://openalex.org/W2732221248"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"effective":[4],"Simultaneous":[5],"Localization":[6],"and":[7,20,54,68],"Map-Building":[8],"(SLAM)":[9],"technique":[10],"for":[11],"indoor":[12],"mobile":[13],"robot":[14],"navigation":[15],"based":[16,95],"on":[17,132],"laser":[18,52,110],"scan-matching":[19],"Rao-Blackwellized":[21],"Particle":[22],"Filter":[23,29],"(RBPF).":[24],"Although":[25],"the":[26,36,50,59,79,103],"Extended":[27],"Kalman":[28],"(EKF)":[30],"solution":[31],"exhibits":[32],"some":[33],"desirable":[34],"properties,":[35],"associated":[37],"geometric":[38],"feature":[39],"map":[40,98],"itself":[41],"fails":[42],"to":[43,56,85,101],"cope":[44],"with":[45,71,87],"senor":[46],"noise":[47],"mingled":[48],"in":[49,58],"incoming":[51],"reading":[53],"unable":[55],"serve":[57],"environment":[60,104],"absent":[61],"of":[62,75,119,122],"such":[63],"features":[64],"as":[65],"straight":[66],"lines":[67],"corners.":[69],"Compared":[70],"FastSLAM,":[72],"main":[73],"advantage":[74],"our":[76,123],"work":[77],"is":[78,83],"smart":[80],"extension":[81],"that":[82],"made":[84],"deal":[86],"sensor":[88],"uncertainty":[89],"by":[90,127],"using":[91],"recursive":[92],"Bayesian":[93],"updating":[94],"occupancy":[96],"grid":[97],"management.":[99],"Furthermore,":[100],"improve":[102],"compatibility,":[105],"we":[106],"presented":[107],"a":[108],"dense":[109],"scan":[111],"matching":[112],"approach":[113],"which":[114],"allows":[115],"handling":[116],"various":[117],"type":[118],"environment.":[120],"Advantages":[121],"proposal":[124],"are":[125],"validated":[126],"real":[128],"experimental":[129],"results":[130],"carried":[131],"Pioneer":[133],"robot.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}