{"id":"https://openalex.org/W2100235484","doi":"https://doi.org/10.1109/robot.2005.1570142","title":"SLAM using Incremental Probabilistic PCA and Dimensionality Reduction","display_name":"SLAM using Incremental Probabilistic PCA and Dimensionality Reduction","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2100235484","doi":"https://doi.org/10.1109/robot.2005.1570142","mag":"2100235484"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570142","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084989076","display_name":"Emma Brunskill","orcid":"https://orcid.org/0000-0002-3971-7127"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Brunskill","raw_affiliation_strings":["CSAIL, The State Center, Massachusetts Institute of Technology, Cambridge, MA, USA","CSAIL, Massachusetts Institute of Technology The Stata Centre, 32 Vassar St. Cambridge, MA 02139; emmab@mit.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, The State Center, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology The Stata Centre, 32 Vassar St. Cambridge, MA 02139; emmab@mit.edu","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004980809","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-4277-2928"},"institutions":[{"id":"https://openalex.org/I4210109586","display_name":"Moscow Institute of Thermal Technology","ror":"https://ror.org/021es5e59","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210109586"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["RU","US"],"is_corresponding":false,"raw_author_name":"N. Roy","raw_affiliation_strings":["CSAIL, The State Center, Massachusetts Institute of Technology, Cambridge, MA, USA","emmab@mit.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, The State Center, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"emmab@mit.edu","institution_ids":["https://openalex.org/I4210109586"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":29.0353,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.99739503,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"342","last_page":"347"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9970999956130981,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7962633967399597},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7294071912765503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6771290302276611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6222705841064453},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.5832480788230896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5469423532485962},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4859806001186371},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.48385632038116455},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4783838987350464},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.4435681700706482},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3726166784763336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3489358425140381},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3274288475513458},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2286509871482849}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7962633967399597},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7294071912765503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6771290302276611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6222705841064453},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.5832480788230896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5469423532485962},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4859806001186371},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.48385632038116455},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4783838987350464},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.4435681700706482},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3726166784763336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3489358425140381},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3274288475513458},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2286509871482849},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570142","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1585610988","https://openalex.org/W1977464512","https://openalex.org/W2042296034","https://openalex.org/W2048728776","https://openalex.org/W2095010934","https://openalex.org/W2099151853","https://openalex.org/W2109513571","https://openalex.org/W2125027820","https://openalex.org/W2133048394","https://openalex.org/W2133102330","https://openalex.org/W2138451337","https://openalex.org/W2139972052","https://openalex.org/W2141681031","https://openalex.org/W2148820580","https://openalex.org/W2150753219","https://openalex.org/W2158558840","https://openalex.org/W2165018911","https://openalex.org/W2277000961","https://openalex.org/W4251002338","https://openalex.org/W6635035540","https://openalex.org/W6674722740","https://openalex.org/W6679855945","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W1995622179","https://openalex.org/W4391160746","https://openalex.org/W1484111231","https://openalex.org/W1552543208","https://openalex.org/W2074396517","https://openalex.org/W1750372561","https://openalex.org/W2166963679","https://openalex.org/W2187269125","https://openalex.org/W1641615907","https://openalex.org/W1501082329"],"abstract_inverted_index":{"The":[0],"recent":[1],"progress":[2],"in":[3,113],"robot":[4,107],"mapping":[5,134],"(or":[6],"SLAM)":[7],"algorithms":[8],"has":[9],"focused":[10],"on":[11,133],"estimating":[12],"either":[13],"point":[14],"features":[15],"(such":[16],"as":[17],"landmarks)":[18],"or":[19],"grid-based":[20],"representations.":[21],"Both":[22],"of":[23,31,37,50,104,136],"these":[24],"representations":[25,116],"generally":[26],"scale":[27],"with":[28,61],"the":[29,32,35,38,48,51,82,101,126,137],"size":[30],"environment,":[33],"not":[34],"complexity":[36],"environment.":[39],"Many":[40],"thousand":[41],"parameters":[42],"may":[43],"be":[44,54,94],"required":[45],"even":[46],"when":[47],"structure":[49],"environment":[52],"can":[53,93],"represented":[55],"using":[56,81],"a":[57,67,88,97],"few":[58],"geometric":[59],"primitives":[60],"many":[62],"fewer":[63],"parameters.":[64,109],"We":[65,129],"describe":[66],"novel":[68],"SLAM":[69,98],"model":[70,91],"called":[71],"IPSLAM.":[72],"Our":[73],"algorithm":[74,99,132],"clusters":[75],"sensor":[76,127],"data":[77,89],"into":[78],"line":[79],"segments":[80],"Probabilistic":[83],"PCA":[84],"algorithm,":[85],"which":[86],"provides":[87],"likelihood":[90],"that":[92],"used":[95],"within":[96],"for":[100],"simultaneous":[102],"estimation":[103],"map":[105],"and":[106],"pose":[108],"Unlike":[110],"previous":[111],"work":[112],"extracting":[114],"line-based":[115],"from":[117,125],"point-based":[118],"maps,":[119],"IPSLAM":[120],"builds":[121],"non-point-based":[122],"maps":[123],"directly":[124],"data.":[128],"demonstrate":[130],"our":[131],"part":[135],"MIT":[138],"Stata":[139],"Centre.":[140]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}