{"id":"https://openalex.org/W2152710164","doi":"https://doi.org/10.1109/robot.2006.1641928","title":"6DOF entropy minimization SLAM","display_name":"6DOF entropy minimization SLAM","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2152710164","doi":"https://doi.org/10.1109/robot.2006.1641928","mag":"2152710164"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5103991145","display_name":"Juan Manuel S\u00e1ez","orcid":null},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"J.M. Saez","raw_affiliation_strings":["Robot Vision Group, Departamento de Ciencia de la Computaci\u00f3n e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain"],"affiliations":[{"raw_affiliation_string":"Robot Vision Group, Departamento de Ciencia de la Computaci\u00f3n e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019943145","display_name":"Francisco Escolano","orcid":"https://orcid.org/0000-0003-3238-4021"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F. Escolano","raw_affiliation_strings":["Robot Vision Group, Departamento de Ciencia de la Computaci\u00f3n e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain"],"affiliations":[{"raw_affiliation_string":"Robot Vision Group, Departamento de Ciencia de la Computaci\u00f3n e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103991145"],"corresponding_institution_ids":["https://openalex.org/I130194489"],"apc_list":null,"apc_paid":null,"fwci":7.8,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96806104,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"1548","last_page":"1555"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.7564605474472046},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6802390217781067},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6124029159545898},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.6005507707595825},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5169581770896912},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.470551997423172},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40963518619537354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3879493474960327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.293856680393219},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16491860151290894},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13648191094398499}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7564605474472046},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6802390217781067},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6124029159545898},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.6005507707595825},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5169581770896912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.470551997423172},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40963518619537354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3879493474960327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.293856680393219},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16491860151290894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13648191094398499},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1252691739","https://openalex.org/W1746662645","https://openalex.org/W1996184771","https://openalex.org/W2004835121","https://openalex.org/W2049981393","https://openalex.org/W2096572624","https://openalex.org/W2096680898","https://openalex.org/W2098718871","https://openalex.org/W2103138838","https://openalex.org/W2113243634","https://openalex.org/W2118104180","https://openalex.org/W2119851068","https://openalex.org/W2121272499","https://openalex.org/W2121528360","https://openalex.org/W2123109979","https://openalex.org/W2129138086","https://openalex.org/W2132631693","https://openalex.org/W2133464237","https://openalex.org/W2138294682","https://openalex.org/W2140935196","https://openalex.org/W2145828616","https://openalex.org/W2147139529","https://openalex.org/W2148820580","https://openalex.org/W2160612379","https://openalex.org/W2164167893","https://openalex.org/W2164638305","https://openalex.org/W2167061621","https://openalex.org/W2168560624","https://openalex.org/W2171668875","https://openalex.org/W2172282149","https://openalex.org/W2336509789","https://openalex.org/W4238681124","https://openalex.org/W6637680315","https://openalex.org/W6682324061","https://openalex.org/W6703140735"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W4235240664","https://openalex.org/W2965083567","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W97075385","https://openalex.org/W2350826920"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,89],"propose":[4],"and":[5,33,39,68,88,97,113],"validate":[6],"an":[7,31,40],"entropy":[8],"minimization":[9],"algorithm":[10,84],"for":[11,36,110],"solving":[12],"the":[13,17,62,82,117,122],"SLAM":[14,26,83],"problem":[15,120],"in":[16,58,85,95,121],"6DOF":[18,123],"case":[19,124],"with":[20],"semi-sparse":[21],"(stereo)":[22],"data.":[23],"The":[24],"proposed":[25],"solution":[27],"relies":[28,53],"on":[29,54,70],"both":[30,94],"efficient":[32,114],"robust":[34],"strategy":[35],"egomotion":[37],"estimation":[38],"effective":[41],"global":[42,46,118],"rectification":[43,47],"strategy.":[44],"Our":[45,100],"method":[48],"is":[49,106],"scalable":[50],"because":[51],"it":[52],"dynamically":[55],"compressing":[56],"actions,":[57],"order":[59],"to":[60,66,116],"reduce":[61],"number":[63],"of":[64],"variables":[65],"optimize,":[67],"thus":[69],"integrating/fusing":[71],"observations.":[72],"We":[73],"have":[74,90],"implemented":[75],"a":[76,107],"wearable":[77],"stereo":[78],"device":[79],"that":[80,103],"runs":[81],"real":[86],"time":[87],"tested":[91],"such":[92],"implementation":[93],"indoor":[96],"outdoor":[98],"scenarios.":[99],"experiments":[101],"show":[102],"action":[104],"compression":[105],"critical":[108],"element":[109],"yielding":[111],"acceptable":[112],"solutions":[115],"optimization":[119]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}