{"id":"https://openalex.org/W2097485728","doi":"https://doi.org/10.1109/robot.2005.1570139","title":"Unscented Transformation of Vehicle States in SLAM","display_name":"Unscented Transformation of Vehicle States in SLAM","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2097485728","doi":"https://doi.org/10.1109/robot.2005.1570139","mag":"2097485728"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10261/30282","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039307249","display_name":"Juan Andrade\u2010Cetto","orcid":"https://orcid.org/0000-0002-6354-8941"},"institutions":[{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"government","lineage":["https://openalex.org/I134820265"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Andrade-Cetto","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","Institut de Rob\u00f2otica i Inform\u00e0tica Industrial, UPC-CSIC Llorens Artigas 4-6, Barcelona, 08028 Spain; cetto@iri.upc.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institut de Rob\u00f2otica i Inform\u00e0tica Industrial, UPC-CSIC Llorens Artigas 4-6, Barcelona, 08028 Spain; cetto@iri.upc.es","institution_ids":["https://openalex.org/I134820265","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I105333472","display_name":"University of the Philippines Cebu","ror":"https://ror.org/05nfx1325","country_code":"PH","type":"education","lineage":["https://openalex.org/I103911934","https://openalex.org/I105333472"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES","PH"],"is_corresponding":false,"raw_author_name":"T. Vidal-Calleja","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","cetto@iri.upc.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"cetto@iri.upc.es","institution_ids":["https://openalex.org/I105333472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041730641","display_name":"Alberto Sanfeliu","orcid":"https://orcid.org/0000-0003-3868-9678"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Sanfeliu","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","Polytechnic University of Catalonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC-CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Polytechnic University of Catalonia","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"323","last_page":"328"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.893971860408783},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6952117681503296},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.689851701259613},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6219226121902466},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.6052113175392151},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5773953199386597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5412634611129761},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4813057482242584},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4572138786315918},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.45605772733688354},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.43362846970558167},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39938193559646606},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3922168016433716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36458998918533325},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.32145190238952637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27101027965545654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19557920098304749},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16332966089248657},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0714673101902008}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.893971860408783},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6952117681503296},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.689851701259613},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6219226121902466},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.6052113175392151},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5773953199386597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5412634611129761},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4813057482242584},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4572138786315918},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.45605772733688354},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.43362846970558167},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39938193559646606},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3922168016433716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36458998918533325},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.32145190238952637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27101027965545654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19557920098304749},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16332966089248657},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0714673101902008},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2005.1570139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.307.4984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.307.4984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/download/scidoc/656/","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.67.1658","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.67.1658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-iri.upc.es/groups/lrobots/publications/andrade_icra05.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/30282","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/30282","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"}],"best_oa_location":{"id":"pmh:oai:digital.csic.es:10261/30282","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/30282","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1977464512","https://openalex.org/W1990012555","https://openalex.org/W2020934227","https://openalex.org/W2111295154","https://openalex.org/W2121990344","https://openalex.org/W2123487311","https://openalex.org/W2143864104","https://openalex.org/W2152699771","https://openalex.org/W2162305166","https://openalex.org/W2168210109","https://openalex.org/W2170802328","https://openalex.org/W4285719527","https://openalex.org/W6655473528"],"related_works":["https://openalex.org/W2350305363","https://openalex.org/W3086876622","https://openalex.org/W4206622494","https://openalex.org/W2917624112","https://openalex.org/W2370718670","https://openalex.org/W3080167830","https://openalex.org/W2099544223","https://openalex.org/W2390558238","https://openalex.org/W2368128009","https://openalex.org/W4206024512"],"abstract_inverted_index":{"In":[0],"this":[1],"article":[2],"we":[3,79],"propose":[4],"an":[5,30],"algorithm":[6],"to":[7,19,75],"reduce":[8],"the":[9,15,26,44,53,56,61,64,68,72,76,99,104,117,120],"effects":[10],"caused":[11],"by":[12],"linearization":[13],"in":[14,24,51,63],"typical":[16],"EKF":[17,95,105],"approach":[18],"SLAM.":[20],"The":[21,33,85],"technique":[22],"consists":[23],"computing":[25],"vehicle":[27,77],"prior":[28],"using":[29,52,91],"Unscented":[31],"Transformation.":[32],"UT":[34,54,73],"allows":[35],"a":[36,86,92,111],"better":[37],"nonlinear":[38],"mean":[39],"and":[40],"variance":[41],"estimation":[42,88],"than":[43],"EKF.":[45],"There":[46],"is":[47,89],"no":[48],"need":[49],"however":[50],"for":[55],"entire":[57],"vehicle-map":[58],"state,":[59],"given":[60],"linearity":[62],"map":[65],"part":[66],"of":[67,119],"model.":[69],"By":[70],"applying":[71],"only":[74],"states":[78],"get":[80],"more":[81],"accurate":[82],"covariance":[83],"estimates.":[84],"posteriori":[87],"made":[90],"fully":[93],"observable":[94],"step,":[96],"thus":[97],"preserving":[98],"same":[100],"computational":[101],"complexity":[102],"as":[103],"with":[106],"sequential":[107],"innovation.":[108],"Experiments":[109],"over":[110],"standard":[112],"SLAM":[113],"data":[114],"set":[115],"show":[116],"behavior":[118],"algorithm.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
