{"id":"https://openalex.org/W2120943880","doi":"https://doi.org/10.1109/robot.2005.1570529","title":"Fast Circular Landmark Detection for Cooperative Localisation and Mapping","display_name":"Fast Circular Landmark Detection for Cooperative Localisation and Mapping","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2120943880","doi":"https://doi.org/10.1109/robot.2005.1570529","mag":"2120943880"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570529","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064257168","display_name":"Julian Ryde","orcid":null},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"J. Ryde","raw_affiliation_strings":["Department of Computer Science, University of Essex, Colchester, UK","Department of Computer Science, University of Essex Wivenhoe Park, Colchester CO4 3SQ, England Email: jryde@essex.ac.uk"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"Department of Computer Science, University of Essex Wivenhoe Park, Colchester CO4 3SQ, England Email: jryde@essex.ac.uk","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100600900","display_name":"Huosheng Hu","orcid":"https://orcid.org/0000-0001-5797-1412"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Huosheng Hu","raw_affiliation_strings":["Department of Computer Science, University of Essex, Colchester, UK","University of Essex **"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"University of Essex **","institution_ids":["https://openalex.org/I110002522"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064257168"],"corresponding_institution_ids":["https://openalex.org/I110002522"],"apc_list":null,"apc_paid":null,"fwci":3.3426,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92217029,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2745","last_page":"2750"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9987000226974487,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.7360670566558838},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6757506132125854},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.6750704646110535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6392543315887451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.625878095626831},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6161268353462219},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5680922269821167},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5255340933799744},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.5019989013671875},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.49697378277778625},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.42592933773994446},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3771713972091675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25370824337005615},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22497302293777466},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.1917566955089569},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15304288268089294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09433683753013611},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07175922393798828}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.7360670566558838},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6757506132125854},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.6750704646110535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6392543315887451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.625878095626831},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6161268353462219},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5680922269821167},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5255340933799744},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.5019989013671875},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.49697378277778625},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.42592933773994446},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3771713972091675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25370824337005615},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22497302293777466},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.1917566955089569},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15304288268089294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09433683753013611},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07175922393798828},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570529","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1966213627","https://openalex.org/W2006028570","https://openalex.org/W2115344791","https://openalex.org/W2154127793","https://openalex.org/W2159456898","https://openalex.org/W2166176531","https://openalex.org/W2172020079","https://openalex.org/W2335803736","https://openalex.org/W4285719527","https://openalex.org/W6677392417","https://openalex.org/W6685304112","https://openalex.org/W6702898982"],"related_works":["https://openalex.org/W1987768467","https://openalex.org/W897367340","https://openalex.org/W4252521546","https://openalex.org/W2946859545","https://openalex.org/W2183753145","https://openalex.org/W2550620568","https://openalex.org/W1486212407","https://openalex.org/W2056469872","https://openalex.org/W2055985996","https://openalex.org/W2374999813"],"abstract_inverted_index":{"Map":[0],"building":[1],"through":[2],"cooperative":[3],"localisation":[4,69,78,97],"(co-location)":[5],"using":[6],"circular":[7],"geometric":[8],"targets":[9],"and":[10,41,49,64,70,89,105],"a":[11,34,42],"SICK":[12],"laser":[13,26],"range":[14,27],"scanner":[15],"is":[16,22,65],"investigated.":[17],"The":[18,53,73],"tenet":[19],"of":[20,81,85,92,102,108,114],"co-location":[21],"circle":[23,32],"detection":[24],"in":[25,61],"data.":[28],"Two":[29],"methods":[30],"for":[31,68],"detection,":[33],"Range":[35],"Weighted":[36],"Circular":[37],"Hough":[38],"Transform":[39],"(RWCHT)":[40],"novel":[43],"squared-residual":[44,55],"voting":[45,56],"strategy":[46,57],"are":[47],"compared":[48],"their":[50],"performance":[51],"assessed.":[52],"custom":[54],"outperforms":[58],"the":[59,112],"RWCHT":[60],"all":[62],"respects":[63],"subsequently":[66],"used":[67,88],"map":[71],"building.":[72],"results":[74],"include":[75],"robust":[76],"continuous":[77],"at":[79],"speeds":[80],"0.2m/s":[82],"with":[83],"98%":[84],"scan":[86],"frames":[87],"an":[90],"error":[91],"less":[93],"than":[94],"0.03m.":[95],"This":[96],"accuracy":[98],"helps":[99],"build":[100],"maps":[101],"96%":[103],"quality":[104],"occupancy":[106],"grids":[107],"cluttered":[109],"environments":[110],"despite":[111],"presence":[113],"distractors.":[115]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}