{"id":"https://openalex.org/W2121099541","doi":"https://doi.org/10.1109/robot.2009.5152186","title":"Utilizing reflection properties of surfaces to improve mobile robot localization","display_name":"Utilizing reflection properties of surfaces to improve mobile robot localization","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2121099541","doi":"https://doi.org/10.1109/robot.2009.5152186","mag":"2121099541"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Bennewitz","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg, Germany","[Institute for Computer Science, University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institute for Computer Science, University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Stachniss","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg, Germany","[Institute for Computer Science, University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institute for Computer Science, University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Behnke","raw_affiliation_strings":["Institute of Computer Science, University of Bonn, Germany","[Institute for Computer Science, University of Bonn, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"[Institute for Computer Science, University of Bonn, Germany]","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Burgard","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg, Germany","[Institute for Computer Science, University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institute for Computer Science, University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103231515"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":36.1996,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.99255073,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"11","issue":null,"first_page":"4287","last_page":"4292"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7278904318809509},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6675835847854614},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6494383811950684},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6299793720245361},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6075483560562134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941914319992065},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5940529704093933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.58827805519104},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5722241997718811},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.547459602355957},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18900102376937866},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09608832001686096}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7278904318809509},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6675835847854614},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6494383811950684},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6299793720245361},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6075483560562134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941914319992065},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5940529704093933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.58827805519104},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5722241997718811},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.547459602355957},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18900102376937866},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09608832001686096},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2009.5152186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.144.5169","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.144.5169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/bennewitz09icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.149.6205","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.6205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ais.uni-bonn.de/papers/ICRA_2009_Reflection_Properties.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.212.4245","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.212.4245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~maren/papers/bennewitz09icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1601378499","https://openalex.org/W1764461045","https://openalex.org/W1974156439","https://openalex.org/W1976792226","https://openalex.org/W2051387066","https://openalex.org/W2097954052","https://openalex.org/W2099987996","https://openalex.org/W2100568235","https://openalex.org/W2107872705","https://openalex.org/W2154418813","https://openalex.org/W2159477781","https://openalex.org/W2160584648","https://openalex.org/W2168237427","https://openalex.org/W2169545352","https://openalex.org/W2336416123","https://openalex.org/W2545914827","https://openalex.org/W2808870168","https://openalex.org/W4256441552","https://openalex.org/W6638006888","https://openalex.org/W6639411854","https://openalex.org/W6663060928","https://openalex.org/W6675080091","https://openalex.org/W6675347597","https://openalex.org/W6676002502"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W2281433634","https://openalex.org/W2122871747","https://openalex.org/W3009037905","https://openalex.org/W3114279067"],"abstract_inverted_index":{"A":[0],"main":[1],"difficulty":[2],"that":[3,68,115],"arises":[4],"in":[5,103,190],"the":[6,12,21,28,31,37,89,93,104,118,125,134,140,148,152,155,160,165,169],"context":[7],"of":[8,14,23,30,36,92,121,127,142,151,162,164,172],"probabilistic":[9],"localization":[10,43,97,204],"is":[11,87],"design":[13],"an":[15],"appropriate":[16],"observation":[17,105,210],"model,":[18],"i.e.,":[19],"determining":[20],"likelihood":[22],"a":[24,34,112,145,178,183,195,208],"sensor":[25],"measurement":[26,90],"given":[27,147],"pose":[29,150],"robot":[32,153,180],"and":[33,123],"map":[35],"environment.":[38],"Many":[39],"successful":[40],"approaches":[41],"to":[42,62,71,133,154,201,207],"rely":[44],"on":[45],"data":[46,58,175],"provided":[47],"by":[48],"range":[49,53,91,129,136,185],"sensors,":[50],"e.g.,":[51],"laser":[52,184],"scanners.":[54],"When":[55],"using":[56,174],"such":[57],"one":[59],"normally":[60],"has":[61],"deal":[63],"with":[64,177,182,194],"erroneous":[65],"maximum-range":[66],"readings":[67,77,82,101],"occur":[69],"due":[70],"poor-reflecting":[72],"surfaces.":[73],"In":[74,107,131],"general,":[75],"these":[76,100],"cannot":[78],"be":[79],"distinguished":[80],"from":[81],"obtained":[83],"when":[84],"no":[85],"obstacle":[86,156],"within":[88],"sensor.":[94],"Therefore,":[95],"existing":[96],"techniques":[98],"treat":[99],"alike":[102],"model.":[106,211],"this":[108],"paper,":[109],"we":[110,138,188],"present":[111],"novel":[113],"approach":[114],"explicitly":[116],"considers":[117],"reflection":[119,170],"properties":[120,171],"surfaces":[122,173],"thus":[124],"expectation":[126],"valid":[128],"measurements.":[130],"addition":[132],"expected":[135],"measurement,":[137],"compute":[139],"probability":[141],"reflectance":[143],"for":[144],"beam":[146],"relative":[149],"taking":[157],"into":[158],"account":[159],"angle":[161],"incidence":[163],"beam.":[166],"We":[167],"estimate":[168],"collected":[176],"mobile":[179],"equipped":[181],"scanner.":[186],"As":[187],"demonstrate":[189],"experiments":[191],"carried":[192],"out":[193],"real":[196],"robot,":[197],"our":[198],"technique":[199],"leads":[200],"significantly":[202],"improved":[203],"results":[205],"compared":[206],"state-of-the-art":[209]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
