{"id":"https://openalex.org/W2290777971","doi":"https://doi.org/10.1109/robio.2015.7418765","title":"An EKF-SLAM method with filter consistency test for mobile robots using a 3D camera","display_name":"An EKF-SLAM method with filter consistency test for mobile robots using a 3D camera","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2290777971","doi":"https://doi.org/10.1109/robio.2015.7418765","mag":"2290777971"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418765","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 Robotics and Biomimetics (ROBIO)","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/A5029430056","display_name":"Cang Ye","orcid":"https://orcid.org/0000-0003-3344-3820"},"institutions":[{"id":"https://openalex.org/I102401767","display_name":"University of Arkansas at Little Rock","ror":"https://ror.org/04fttyv97","country_code":"US","type":"education","lineage":["https://openalex.org/I102401767"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Cang Ye","raw_affiliation_strings":["System Engineering Department, University of Arkansas at Little Rock, Little Rock, AR, USA"],"affiliations":[{"raw_affiliation_string":"System Engineering Department, University of Arkansas at Little Rock, Little Rock, AR, USA","institution_ids":["https://openalex.org/I102401767"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102045370","display_name":"Yimin Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I102401767","display_name":"University of Arkansas at Little Rock","ror":"https://ror.org/04fttyv97","country_code":"US","type":"education","lineage":["https://openalex.org/I102401767"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yimin Zhao","raw_affiliation_strings":["System Engineering Department, University of Arkansas at Little Rock, Little Rock, AR, USA"],"affiliations":[{"raw_affiliation_string":"System Engineering Department, University of Arkansas at Little Rock, Little Rock, AR, USA","institution_ids":["https://openalex.org/I102401767"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029430056"],"corresponding_institution_ids":["https://openalex.org/I102401767"],"apc_list":null,"apc_paid":null,"fwci":0.8108,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83007486,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"188","last_page":"193"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"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":0.8894842863082886},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7546682357788086},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7533066272735596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6986013650894165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6324506402015686},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6095221042633057},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5476412773132324},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4853626489639282},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35447585582733154}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8894842863082886},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7546682357788086},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7533066272735596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6986013650894165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6324506402015686},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6095221042633057},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5476412773132324},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4853626489639282},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35447585582733154}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418765","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 Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1963830353","https://openalex.org/W1972671602","https://openalex.org/W1977464512","https://openalex.org/W2011754354","https://openalex.org/W2039328151","https://openalex.org/W2080823437","https://openalex.org/W2088303735","https://openalex.org/W2090753609","https://openalex.org/W2101849489","https://openalex.org/W2109513571","https://openalex.org/W2113906280","https://openalex.org/W2127578024","https://openalex.org/W2140190057","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2152671441","https://openalex.org/W2158090912","https://openalex.org/W2165468899","https://openalex.org/W6641368847","https://openalex.org/W6675607693"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W1541079531","https://openalex.org/W2034836143","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W3001939774"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,16,20,63,94,139],"new":[4],"Extended":[5],"Kalman":[6],"Filter":[7],"(EKF)":[8],"for":[9],"Simultaneous":[10],"Localization":[11],"and":[12,88,107,125,158,171],"Mapping":[13],"(SLAM)":[14],"of":[15,65,130,148,169,175,178],"mobile":[17],"robot":[18],"using":[19],"3D":[21,176],"Time":[22],"Of":[23],"Flight":[24],"(TOF)":[25],"camera.":[26],"The":[27,132],"proposed":[28,98,120,163],"method":[29,99],"employs":[30],"an":[31],"egomotion":[32],"estimation":[33],"algorithm":[34],"to":[35,51,79],"estimate":[36,52],"the":[37,45,49,53,57,69,74,81,91,97,101,109,114,119,128,143,167,173,179],"camera's":[38,54],"egomotion,":[39],"which":[40],"is":[41,135],"then":[42,89],"used":[43],"as":[44],"motion":[46],"model":[47],"by":[48,61,84,138],"EKF":[50,121],"pose":[55],"in":[56,155],"world":[58],"coordinate":[59],"system":[60],"tracking":[62],"set":[64],"visual":[66],"features":[67],"from":[68],"previous":[70],"intensity":[71],"images.":[72],"Unlike":[73],"existing":[75],"work":[76],"that":[77,162],"attempts":[78],"maintain":[80],"EKF's":[82,102],"consistency":[83,103,124,134],"building":[85],"local":[86],"maps":[87,92,177],"joining":[90],"into":[93],"global":[95],"one,":[96],"tests":[100],"at":[104],"each":[105,149],"step":[106],"restarts":[108],"filter":[110,133],"whenever":[111],"it":[112],"fails":[113],"test.":[115],"By":[116],"doing":[117],"so,":[118],"retains":[122],"its":[123],"therefore":[126],"improve":[127],"accuracy":[129,168,174],"SLAM.":[131],"evaluated":[136],"online":[137],"chi-square":[140],"test":[141],"on":[142],"time-averaged":[144],"normalized":[145],"innovation":[146],"squared":[147],"stable":[150],"feature's":[151],"observation.":[152],"Experimental":[153],"results":[154],"various":[156],"indoor":[157],"outdoor":[159],"terrains":[160],"demonstrate":[161],"approach":[164],"substantially":[165],"improves":[166],"SLAM":[170],"thus":[172],"environments.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}