{"id":"https://openalex.org/W2791523058","doi":"https://doi.org/10.1109/robio.2017.8324465","title":"Generalizing corrective gradient refinement in RBPF for occupancy grid LIDAR SLAM","display_name":"Generalizing corrective gradient refinement in RBPF for occupancy grid LIDAR SLAM","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2791523058","doi":"https://doi.org/10.1109/robio.2017.8324465","mag":"2791523058"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5077333640","display_name":"Kandith Wongsuwan","orcid":null},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Kandith Wongsuwan","raw_affiliation_strings":["Dept. of Electrical Engineering, Kasetsart University, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, Kasetsart University, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007400906","display_name":"Kanjanapan Sukvichai","orcid":null},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Kanjanapan Sukvichai","raw_affiliation_strings":["Dept. of Electrical Engineering, Kasetsart University, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, Kasetsart University, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198105771"],"apc_list":null,"apc_paid":null,"fwci":0.9265,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82613972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"3","issue":null,"first_page":"495","last_page":"500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.915647566318512},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7556333541870117},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6813436150550842},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6126410365104675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5724597573280334},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5333331227302551},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5123849511146545},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4706123471260071},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4641602635383606},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4577040672302246},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3736811876296997},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37358832359313965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3326190114021301},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2324712574481964},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1434873640537262},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13655349612236023},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13345885276794434},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12242910265922546},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.07699039578437805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07050284743309021}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.915647566318512},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7556333541870117},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6813436150550842},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6126410365104675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5724597573280334},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5333331227302551},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5123849511146545},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4706123471260071},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4641602635383606},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4577040672302246},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3736811876296997},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37358832359313965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3326190114021301},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2324712574481964},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1434873640537262},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13655349612236023},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13345885276794434},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12242910265922546},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.07699039578437805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07050284743309021},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":18,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1561837455","https://openalex.org/W1612997784","https://openalex.org/W2049981393","https://openalex.org/W2103393159","https://openalex.org/W2112793821","https://openalex.org/W2119906889","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2161798487","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W3103648783","https://openalex.org/W4249866455","https://openalex.org/W4285719527","https://openalex.org/W6675456536","https://openalex.org/W6676506760","https://openalex.org/W6679804589"],"related_works":["https://openalex.org/W2162255319","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4212966960","https://openalex.org/W2510414167","https://openalex.org/W3196708299","https://openalex.org/W2125871801","https://openalex.org/W4229444815","https://openalex.org/W3126674423","https://openalex.org/W4293877624"],"abstract_inverted_index":{"Rao-Backwellized":[0],"Particle":[1],"Filter":[2],"(RBPF)":[3],"has":[4],"shown":[5],"to":[6,42,48,104,107],"be":[7,105,138],"a":[8,74,141],"successful":[9,19],"framework":[10],"for":[11,77,143],"Simultaneous":[12],"Localization":[13],"and":[14,55,97,118],"Mapping":[15],"(SLAM).":[16],"It":[17],"is":[18,45,64,92,102],"because":[20],"of":[21,110,127],"its":[22,56],"non-parametric":[23],"property":[24],"in":[25,31,34,51],"which":[26],"avoid":[27],"the":[28,35,49,52,60,65,88,133,144],"local":[29],"minimum,":[30],"turn,":[32],"excels":[33],"mapping":[36,53],"application.":[37],"However,":[38],"researches":[39],"that":[40,100],"aim":[41],"improve":[43],"RBPF":[44,90],"declining":[46],"due":[47],"randomness":[50],"solution":[54],"memory":[57],"consumption,":[58],"where":[59],"current":[61],"pervasive":[62],"approach":[63,76],"pose-graph":[66,145],"SLAM.":[67],"Recently,":[68],"Corrective":[69],"Gradient":[70],"Refinement":[71],"(CGR)":[72],"-":[73,82],"new":[75],"improving":[78],"particle":[79],"filter-based":[80],"localization":[81],"was":[83],"proposed.":[84],"In":[85,132],"this":[86,135],"paper,":[87],"traditional":[89],"SLAM":[91,130],"augmented":[93],"with":[94],"CGR":[95],"algorithm,":[96],"generalized":[98,129],"so":[99],"it":[101],"able":[103],"applied":[106],"any":[108],"kind":[109],"robotic":[111],"sensors.":[112],"The":[113],"occupancy":[114],"grid":[115],"map":[116],"structure":[117],"LIDAR":[119],"sensor":[120],"are":[121],"used":[122,139],"as":[123,140],"an":[124],"implementation":[125],"case":[126],"proposed":[128],"algorithm.":[131],"future,":[134],"algorithm":[136],"will":[137],"basis":[142],"construction.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
