{"id":"https://openalex.org/W2138055360","doi":"https://doi.org/10.1109/robot.2008.4543478","title":"Place recognition-based fixed-lag smoothing for environments with unreliable GPS","display_name":"Place recognition-based fixed-lag smoothing for environments with unreliable GPS","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2138055360","doi":"https://doi.org/10.1109/robot.2008.4543478","mag":"2138055360"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543478","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":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/d989b8da-a3e9-4653-a2ae-ad3d1307f814/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070375939","display_name":"Roozbeh Mottaghi","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roozbeh Mottaghi","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology","Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology","Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077777678","display_name":"Ananth Ranganathan","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ananth Ranganathan","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology","Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017220561","display_name":"Richard Roberts","orcid":"https://orcid.org/0000-0002-8095-7595"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Roberts","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology","Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology","Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":28.6194,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99103353,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1862","last_page":"1867"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.9125150442123413},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.8306570053100586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7483310699462891},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6906063556671143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6511397957801819},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.639417290687561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6385682821273804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6225200295448303},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5937990546226501},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5788822770118713},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.47491464018821716},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36508721113204956}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9125150442123413},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8306570053100586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7483310699462891},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6906063556671143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6511397957801819},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.639417290687561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6385682821273804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6225200295448303},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5937990546226501},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5788822770118713},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.47491464018821716},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36508721113204956},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2008.4543478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543478","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:smartech.gatech.edu:1853/38368","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/38368","pdf_url":"http://repository.gatech.edu/bitstreams/d989b8da-a3e9-4653-a2ae-ad3d1307f814/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.115.4080","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.115.4080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~kaess/pub/Mottaghi08icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.127.2202","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.127.2202","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~ananth/pub/Mottaghi08icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.173.622","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.173.622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://borg.cc.gatech.edu/lagr/papers/roozbeh-icra08.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:smartech.gatech.edu:1853/38368","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/38368","pdf_url":"http://repository.gatech.edu/bitstreams/d989b8da-a3e9-4653-a2ae-ad3d1307f814/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309321","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2138055360.pdf","grobid_xml":"https://content.openalex.org/works/W2138055360.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W1968870451","https://openalex.org/W1979438422","https://openalex.org/W2007079389","https://openalex.org/W2064169939","https://openalex.org/W2076367134","https://openalex.org/W2108926293","https://openalex.org/W2117892041","https://openalex.org/W2128554449","https://openalex.org/W2130946545","https://openalex.org/W2607928667","https://openalex.org/W4293775970"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Pose":[0],"estimation":[1],"of":[2,25,40,64,82,128,134],"outdoor":[3,26],"robots":[4,27],"presents":[5],"some":[6,65],"distinct":[7],"challenges":[8],"due":[9],"to":[10,106,110],"the":[11,15,37,41,62,77,80,83,90,103,107,126,129,132],"various":[12],"uncertainties":[13],"in":[14,36,131],"robot":[16,84,91,117],"sensing":[17],"and":[18,72,79],"action.":[19],"In":[20,86],"particular,":[21],"global":[22,54],"positioning":[23],"sensors":[24],"do":[28],"not":[29],"always":[30],"work":[31],"perfectly,":[32],"causing":[33],"large":[34],"drift":[35],"location":[38,63,105],"estimate":[39,127],"robot.":[42],"To":[43],"overcome":[44],"this":[45],"common":[46],"problem,":[47],"we":[48,60],"propose":[49],"a":[50,93],"new":[51],"approach":[52],"for":[53],"localization":[55],"using":[56,69],"place":[57,109,121],"recognition.":[58],"First,":[59],"learn":[61],"arbitrary":[66],"key":[67,94,108],"places":[68],"odometry":[70,100],"measurements":[71,74,101,123],"GPS":[73,135],"only":[75],"at":[76],"start":[78],"end":[81],"trajectory.":[85],"subsequent":[87],"runs,":[88],"when":[89],"perceives":[92],"place,":[95],"our":[96],"fixed-lag":[97],"smoother":[98,130],"fuses":[99],"with":[102],"relative":[104],"improve":[111,125],"its":[112],"pose":[113],"estimate.":[114],"Outdoor":[115],"mobile":[116],"experiments":[118],"show":[119],"that":[120],"recognition":[122],"significantly":[124],"absence":[133],"measurements.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}