{"id":"https://openalex.org/W2158090912","doi":"https://doi.org/10.1109/robot.2008.4543252","title":"Analysis and improvement of the consistency of extended Kalman filter based SLAM","display_name":"Analysis and improvement of the consistency of extended Kalman filter based SLAM","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2158090912","doi":"https://doi.org/10.1109/robot.2008.4543252","mag":"2158090912"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guoquan P. Huang","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasios I. Mourikis","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stergios I. Roumeliotis","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008502528"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":20.5305,"has_fulltext":false,"cited_by_count":210,"citation_normalized_percentile":{"value":0.9935967,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"473","last_page":"479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991000294685364,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9911999702453613,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9908999800682068,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8857582807540894},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8417989015579224},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6936841011047363},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6821722984313965},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5813014507293701},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5610719919204712},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5529968738555908},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5384521484375},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.5267654657363892},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.47347962856292725},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.4677484333515167},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4448535144329071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4117131531238556},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4041270911693573},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.18525385856628418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13793042302131653},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09190288186073303}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8857582807540894},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8417989015579224},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6936841011047363},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6821722984313965},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5813014507293701},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5610719919204712},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5529968738555908},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5384521484375},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.5267654657363892},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.47347962856292725},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.4677484333515167},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4448535144329071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4117131531238556},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4041270911693573},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.18525385856628418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13793042302131653},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09190288186073303},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.157.298","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.157.298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/~mourikis/papers/HuangMourikisRoumeliotis2008.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.2818","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.2818","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/~stergios/papers/icra08-fej.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1569943423","https://openalex.org/W1977654539","https://openalex.org/W1990012555","https://openalex.org/W2004835121","https://openalex.org/W2101914010","https://openalex.org/W2107402720","https://openalex.org/W2111295154","https://openalex.org/W2113906280","https://openalex.org/W2120902740","https://openalex.org/W2128832103","https://openalex.org/W2133464237","https://openalex.org/W2139037949","https://openalex.org/W2140190057","https://openalex.org/W2140998418","https://openalex.org/W2165468899","https://openalex.org/W2170802328","https://openalex.org/W2727085722","https://openalex.org/W6678042943","https://openalex.org/W6740213987"],"related_works":["https://openalex.org/W2415692232","https://openalex.org/W1035502194","https://openalex.org/W2164404293","https://openalex.org/W4206024512","https://openalex.org/W2966342863","https://openalex.org/W2053335193","https://openalex.org/W4300476109","https://openalex.org/W2772311278","https://openalex.org/W4205759170","https://openalex.org/W2354299011"],"abstract_inverted_index":{"In":[0,114],"this":[1,93],"work,":[2],"we":[3],"study":[4],"the":[5,11,20,23,31,39,45,57,65,69,76,115,117,123,134,138,144,150],"inconsistency":[6],"of":[7,13,22,44,51,56,68,75,89,112,137,143,149],"EKF-based":[8,46],"SLAM":[9,47,60,153],"from":[10],"perspective":[12],"observability.":[14],"We":[15],"analytically":[16],"prove":[17],"that":[18,55,133,148],"when":[19],"Jacobians":[21,119],"state":[24,33,77,129],"and":[25],"measurement":[26],"models":[27],"are":[28,120],"evaluated":[29],"at":[30],"latest":[32],"estimates":[34,67,126],"during":[35],"every":[36],"time":[37],"step,":[38],"linearized":[40],"error-state":[41,139],"system":[42,140],"model":[43,141],"has":[48],"observable":[49,135],"subspace":[50,136],"dimension":[52,146],"higher":[53],"than":[54],"actual,":[58],"nonlinear,":[59],"system.":[61,154],"As":[62],"a":[63,86,95],"result,":[64],"covariance":[66],"EKF":[70,101],"undergo":[71],"reduction":[72],"in":[73,110],"directions":[74],"space":[78],"where":[79],"no":[80],"information":[81],"is":[82,85,102,105,142,158],"available,":[83],"which":[84,104,131],"primary":[87],"cause":[88],"inconsistency.":[90],"To":[91],"address":[92],"issue,":[94],"new":[96],"\u201cFirst":[97],"Estimates":[98],"Jacobian\u201d":[99],"(FEJ)":[100],"proposed,":[103],"shown":[106],"to":[107],"perform":[108],"better":[109],"terms":[111],"consistency.":[113],"FEJ-EKF,":[116],"filter":[118],"calculated":[121],"using":[122],"first-ever":[124],"available":[125],"for":[127],"each":[128],"variable,":[130],"insures":[132],"same":[145],"as":[147],"underlying":[151],"nonlinear":[152],"The":[155],"theoretical":[156],"analysis":[157],"validated":[159],"through":[160],"extensive":[161],"simulations.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":7}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}