{"id":"https://openalex.org/W2036339490","doi":"https://doi.org/10.1109/robot.2004.1307228","title":"Outdoor map building based on odometry and RTK-GPS positioning fusion","display_name":"Outdoor map building based on odometry and RTK-GPS positioning fusion","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2036339490","doi":"https://doi.org/10.1109/robot.2004.1307228","mag":"2036339490"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Ohno","raw_affiliation_strings":["Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","Intelligent Robot Laboratory, Tsukuba Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Intelligent Robot Laboratory, Tsukuba Univ., Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040898489","display_name":"T. Tsubouchi","orcid":"https://orcid.org/0000-0001-6774-8847"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Tsubouchi","raw_affiliation_strings":["Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","Intelligent Robot Laboratory, Tsukuba Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Intelligent Robot Laboratory, Tsukuba Univ., Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110221069","display_name":"S. Yuta","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Yuta","raw_affiliation_strings":["Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","Intelligent Robot Laboratory, Tsukuba Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory, Institute of Engineering Machanics and Systems, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Intelligent Robot Laboratory, Tsukuba Univ., Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055778007"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":6.9302,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.96654442,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":null,"first_page":"684","last_page":"690 Vol.1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T13382","display_name":"Robotics and Automated Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/odometry","display_name":"Odometry","score":0.9171496629714966},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7719440460205078},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7608080506324768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6893754601478577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6760902404785156},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6029345393180847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5240179300308228},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.477912038564682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43918377161026},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4362901449203491},{"id":"https://openalex.org/keywords/gps-signals","display_name":"GPS signals","score":0.42343148589134216},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.3408845067024231},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06245690584182739}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9171496629714966},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7719440460205078},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7608080506324768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6893754601478577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6760902404785156},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6029345393180847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5240179300308228},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.477912038564682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43918377161026},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4362901449203491},{"id":"https://openalex.org/C12957241","wikidata":"https://www.wikidata.org/wiki/Q15903792","display_name":"GPS signals","level":4,"score":0.42343148589134216},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.3408845067024231},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06245690584182739},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W51419632","https://openalex.org/W1592813209","https://openalex.org/W2094227853","https://openalex.org/W2097954052","https://openalex.org/W2109897681","https://openalex.org/W2129743362","https://openalex.org/W2134517032","https://openalex.org/W2169795610","https://openalex.org/W3146165183","https://openalex.org/W4256441552","https://openalex.org/W6602105415","https://openalex.org/W6635545125","https://openalex.org/W6684952013"],"related_works":["https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W4386563447","https://openalex.org/W1983380679","https://openalex.org/W1981649169","https://openalex.org/W2357354286","https://openalex.org/W2388705266","https://openalex.org/W4248597968","https://openalex.org/W2054128315"],"abstract_inverted_index":{"The":[0,17,38,109,125],"final":[1],"objective":[2],"of":[3,14,45,66,95,120,133],"the":[4,20,33,54,57,63,69,73,82,96,101,117,123,134],"authors":[5],"is":[6,23,89,113],"to":[7,62,92,115],"realize":[8],"mobile":[9],"robot":[10,39],"navigation":[11],"in":[12,32,35],"walkway":[13,21],"outdoor":[15],"environment.":[16],"path":[18],"along":[19,56,68,122],"which":[22],"measured":[24],"correctly":[25],"together":[26],"with":[27],"landmarks":[28,67],"must":[29],"be":[30],"given":[31],"framework":[34],"this":[36],"paper.":[37],"identifies":[40],"its":[41],"position":[42],"by":[43,111],"means":[44],"odometry,":[46],"DGPS":[47],"and":[48,77,85,129],"laser":[49],"range":[50],"finder":[51],"(LRF)":[52],"during":[53],"motion":[55],"path.":[58],"This":[59],"work":[60],"contributes":[61],"map":[64],"building":[65],"walkway.":[70,124],"To":[71],"make":[72],"map,":[74],"RTK-GPS,":[75],"odometry":[76],"LRF":[78,98,112],"are":[79,136],"used":[80],"for":[81],"sensory":[83],"devices":[84],"Kalman":[86],"smoothing":[87],"technique":[88],"also":[90],"incorporated":[91],"interpolate":[93],"trajectory":[94,126],"scanning":[97,110],"equipment":[99],"between":[100],"two":[102],"point":[103],"that":[104],"RTK-GPS":[105],"measurement":[106],"took":[107],"place.":[108],"performed":[114],"acquire":[116],"3-D":[118],"shape":[119],"objects":[121,135],"presumed":[127],"properly":[128],"well":[130],"organized":[131],"shapes":[132],"reconstructed.":[137]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"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"}