{"id":"https://openalex.org/W2067165341","doi":"https://doi.org/10.1109/robio.2014.7090563","title":"Compressed Unscented Kalman filter-based SLAM","display_name":"Compressed Unscented Kalman filter-based SLAM","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2067165341","doi":"https://doi.org/10.1109/robio.2014.7090563","mag":"2067165341"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5018906724","display_name":"Jiantong Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiantong Cheng","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101724793","display_name":"Jonghyuk Kim","orcid":"https://orcid.org/0000-0003-4505-1103"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jonghyuk Kim","raw_affiliation_strings":["College of Engineering and Computer Science, Australian National University, Australia","College of Engineering and Computer Science Australian National University, ACT 0200, Australia#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Computer Science, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"College of Engineering and Computer Science Australian National University, ACT 0200, Australia#TAB#","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107955958","display_name":"Zhenyu Jiang","orcid":"https://orcid.org/0000-0002-3312-9092"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Jiang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102221016","display_name":"Xixiang Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xixiang Yang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.8101,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98733395,"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":"1602","last_page":"1607"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7706195712089539},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.6255180835723877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5937228798866272},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5927754640579224},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.5854858756065369},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5695155262947083},{"id":"https://openalex.org/keywords/compressed-sensing","display_name":"Compressed sensing","score":0.5674663782119751},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5191904306411743},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4912382960319519},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43745899200439453},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.437033087015152},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.4142831563949585},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37286776304244995},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.359150767326355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3460434675216675},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32609325647354126},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28751203417778015},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.22248101234436035},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1685115098953247}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7706195712089539},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.6255180835723877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5937228798866272},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5927754640579224},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.5854858756065369},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5695155262947083},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.5674663782119751},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5191904306411743},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4912382960319519},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43745899200439453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.437033087015152},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.4142831563949585},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37286776304244995},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.359150767326355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3460434675216675},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32609325647354126},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28751203417778015},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.22248101234436035},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1685115098953247},{"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2014.7090563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/38099","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/38099","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE International Conference on Robotics and Biomimetics","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320431","display_name":"Australian National University","ror":"https://ror.org/019wvm592"},{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1644054796","https://openalex.org/W1977464512","https://openalex.org/W1980074099","https://openalex.org/W2010806162","https://openalex.org/W2025007236","https://openalex.org/W2040920255","https://openalex.org/W2047049913","https://openalex.org/W2055601837","https://openalex.org/W2097485728","https://openalex.org/W2123487311","https://openalex.org/W2129744044","https://openalex.org/W2130960731","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2165468899","https://openalex.org/W2168210109","https://openalex.org/W3000613877","https://openalex.org/W4249074720","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W2275886096","https://openalex.org/W2390558238","https://openalex.org/W2966342863","https://openalex.org/W4206622494","https://openalex.org/W2099544223","https://openalex.org/W2011604740","https://openalex.org/W2368128009","https://openalex.org/W3086876622","https://openalex.org/W2350305363","https://openalex.org/W2377099507"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,71],"real-time":[4],"nonlinear":[5,68],"filtering":[6],"approach":[7],"for":[8,45,65],"the":[9,28,32,36,40,46,56,59,66,78,91,94],"SLAM":[10],"problem,":[11,52],"termed":[12],"as":[13],"compressed":[14,72],"Unscented":[15],"Kalman":[16],"filter":[17],"(CUKF).":[18],"A":[19],"partial":[20,60],"sampling":[21,63],"strategy":[22],"was":[23],"recently":[24],"proposed":[25,95],"to":[26],"make":[27],"computational":[29],"complexity":[30,42],"of":[31,58,93],"UKF":[33],"quadratic":[34,41],"with":[35],"state-vector":[37],"dimension.":[38],"However,":[39],"remains":[43],"intractable":[44],"large-scale":[47],"SLAM.":[48],"To":[49],"address":[50],"this":[51],"we":[53],"firstly":[54],"prove":[55],"equivalence":[57],"and":[61,87],"full":[62],"strategies":[64],"decoupled":[67],"system.":[69],"Then":[70],"form":[73],"is":[74],"presented":[75],"by":[76],"reformulating":[77],"cross-correlation":[79],"items.":[80],"Finally,":[81],"experimental":[82],"results":[83],"based":[84],"on":[85],"simulated":[86],"practical":[88],"datasets":[89],"validate":[90],"effectiveness":[92],"approach.":[96]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
