{"id":"https://openalex.org/W2152422184","doi":"https://doi.org/10.1109/robot.2005.1570475","title":"Exactly Sparse Delayed-State Filters","display_name":"Exactly Sparse Delayed-State Filters","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2152422184","doi":"https://doi.org/10.1109/robot.2005.1570475","mag":"2152422184"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570475","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2027.42/86061","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R.M. Eustice","raw_affiliation_strings":["MIT/WHOI Joint Program in Applied Ocean Science and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT/WHOI Joint Program in Applied Ocean Science and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Singh","raw_affiliation_strings":["Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"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":"J.J. Leonard","raw_affiliation_strings":["Department of Ocean Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Ocean Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020864898"],"corresponding_institution_ids":["https://openalex.org/I66958751"],"apc_list":null,"apc_paid":null,"fwci":729.3086,"has_fulltext":true,"cited_by_count":147,"citation_normalized_percentile":{"value":0.99997249,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9941999912261963,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.712988018989563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6216499209403992},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5843679904937744},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.562013566493988},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5435206890106201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5389090180397034},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.510291337966919},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.49217692017555237},{"id":"https://openalex.org/keywords/sparse-matrix","display_name":"Sparse matrix","score":0.4698685109615326},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.46839141845703125},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4449992775917053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39552241563796997},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3860643208026886},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3856430649757385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29220205545425415},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2248358428478241}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.712988018989563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6216499209403992},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5843679904937744},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.562013566493988},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5435206890106201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5389090180397034},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.510291337966919},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.49217692017555237},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.4698685109615326},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.46839141845703125},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4449992775917053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39552241563796997},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3860643208026886},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3856430649757385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29220205545425415},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2248358428478241},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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":3,"locations":[{"id":"doi:10.1109/robot.2005.1570475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570475","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:deepblue.lib.umich.edu:2027.42/86061","is_oa":true,"landing_page_url":"http://hdl.handle.net/2027.42/86061>","pdf_url":"https://hdl.handle.net/2027.42/86061","source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.140.3323","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.140.3323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.whoi.edu/cms/files/reustice/2005/1/icra2005_1141.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/86061","is_oa":true,"landing_page_url":"http://hdl.handle.net/2027.42/86061>","pdf_url":"https://hdl.handle.net/2027.42/86061","source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6656409171","display_name":"An Engineering Research Center for Subsurface Sensing and Imaging Systems - CenSSIS","funder_award_id":"9986821","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308861","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2152422184.pdf","grobid_xml":"https://content.openalex.org/works/W2152422184.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W74453616","https://openalex.org/W142685375","https://openalex.org/W1494141623","https://openalex.org/W1511332864","https://openalex.org/W1531532259","https://openalex.org/W1559794319","https://openalex.org/W1606157100","https://openalex.org/W1650817476","https://openalex.org/W1656165940","https://openalex.org/W1812064485","https://openalex.org/W1907066036","https://openalex.org/W1956033670","https://openalex.org/W1977464512","https://openalex.org/W2026805101","https://openalex.org/W2045546253","https://openalex.org/W2093697299","https://openalex.org/W2098841537","https://openalex.org/W2101914010","https://openalex.org/W2111308925","https://openalex.org/W2112793821","https://openalex.org/W2122410182","https://openalex.org/W2124313187","https://openalex.org/W2129530697","https://openalex.org/W2133048394","https://openalex.org/W2148820580","https://openalex.org/W2151103935","https://openalex.org/W2152432805","https://openalex.org/W2161740811","https://openalex.org/W4248301759","https://openalex.org/W6603094494","https://openalex.org/W6605876125","https://openalex.org/W6637071794","https://openalex.org/W6675376843","https://openalex.org/W6676506760","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4385801697","https://openalex.org/W4288626232","https://openalex.org/W2970101145","https://openalex.org/W2462185186","https://openalex.org/W2542348219","https://openalex.org/W2910040213","https://openalex.org/W2800816008"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,7,27,58,93,104,108,120,137],"novel":[4],"insight":[5],"that":[6,112],"SLAM":[8,70,95],"information":[9,60,71,96,121],"matrix":[10,61,97],"is":[11,21,62,111],"exactly":[12],"sparse":[13],"in":[14,23,40,63,89],"a":[15,19,49],"delayed-state":[16,59,109],"framework.":[17],"Such":[18],"framework":[20,110],"used":[22],"view-based":[24],"representations":[25],"of":[26,43,57,103,107,119],"environment":[28],"which":[29],"rely":[30],"upon":[31],"scan-matching":[32],"raw":[33,37],"sensor":[34],"data.":[35],"Scan-matching":[36],"data":[38],"results":[39,135],"virtual":[41],"observations":[42],"robot":[44],"motion":[45],"with":[46],"respect":[47],"to":[48,65,86,91,98,116,126,136],"place":[50],"its":[51],"previously":[52],"been.":[53],"The":[54,101],"exact":[55,105],"sparseness":[56,106],"contrast":[64],"other":[66],"recent":[67],"feature":[68],"based":[69],"algorithms":[72],"like":[73],"Sparse":[74],"Extended":[75],"Information":[76],"Filters":[77],"or":[78],"Thin":[79],"Junction":[80],"Tree":[81],"Filters.":[82],"These":[83],"methods":[84],"have":[85],"make":[87,127],"approximations":[88],"order":[90],"force":[92],"feature-based":[94],"be":[99],"sparse.":[100],"benefit":[102],"it":[113,131],"allows":[114],"one":[115],"take":[117],"advantage":[118],"space":[122],"parameterization":[123],"without":[124],"having":[125],"any":[128],"approximations.":[129],"Therefore,":[130],"can":[132],"produce":[133],"equivalent":[134],"\u201cfull-covariance\u201d":[138],"solution.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}