{"id":"https://openalex.org/W1984770876","doi":"https://doi.org/10.1109/robot.2010.5509992","title":"Optimization techniques for laser-based 3D particle filter SLAM","display_name":"Optimization techniques for laser-based 3D particle filter SLAM","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1984770876","doi":"https://doi.org/10.1109/robot.2010.5509992","mag":"1984770876"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5081597175","display_name":"Jochen Welle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jochen Welle","raw_affiliation_strings":["Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089014753","display_name":"Dirk Schulz","orcid":"https://orcid.org/0000-0002-6240-9181"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Schulz","raw_affiliation_strings":["Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069598070","display_name":"Thomas Bachran","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Bachran","raw_affiliation_strings":["Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer FKIE Neuenahrer Stra\u00dfe 20, D-53343 Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109046710","display_name":"Armin B. Cremers","orcid":"https://orcid.org/0000-0002-7693-4649"},"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":"Armin B. Cremers","raw_affiliation_strings":["Institute of Computer Science III, University of Bonn, R\u00f6merstra\u00dfe 164, D-53117, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science III, University of Bonn, R\u00f6merstra\u00dfe 164, D-53117, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081597175"],"corresponding_institution_ids":["https://openalex.org/I4210166245"],"apc_list":null,"apc_paid":null,"fwci":4.3067,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92792498,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3525","last_page":"3530"},"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.9094700813293457},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.817207932472229},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7279623746871948},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6937246322631836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.619612455368042},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5905280709266663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5511465072631836},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5247861742973328},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5186854600906372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143617391586304},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.49557721614837646},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4939137101173401},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4527953863143921},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4326787292957306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2931552529335022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22912463545799255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1971077024936676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09938943386077881}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9094700813293457},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.817207932472229},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7279623746871948},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6937246322631836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.619612455368042},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5905280709266663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5511465072631836},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5247861742973328},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5186854600906372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143617391586304},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.49557721614837646},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4939137101173401},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4527953863143921},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4326787292957306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2931552529335022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22912463545799255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1971077024936676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09938943386077881},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-188718","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-188718.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer FKIE","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/370125","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/370125","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6399999856948853,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W11434116","https://openalex.org/W87038444","https://openalex.org/W1616522940","https://openalex.org/W1692927985","https://openalex.org/W1854144742","https://openalex.org/W2071158641","https://openalex.org/W2112793821","https://openalex.org/W2115992143","https://openalex.org/W2124123377","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2140027085","https://openalex.org/W2146123848","https://openalex.org/W2148820580","https://openalex.org/W2149020252","https://openalex.org/W2336416123","https://openalex.org/W4285719527","https://openalex.org/W6600463747","https://openalex.org/W6637711694","https://openalex.org/W6638783030","https://openalex.org/W6676506760","https://openalex.org/W6680788051","https://openalex.org/W6763868703"],"related_works":["https://openalex.org/W2128655648","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W1518703880","https://openalex.org/W1837108749","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2165929034","https://openalex.org/W2133062384"],"abstract_inverted_index":{"In":[0,39],"recent":[1],"years":[2],"multiple":[3],"simultaneous":[4],"localization":[5],"and":[6,70,128,135],"mapping":[7],"(SLAM)":[8],"algorithms":[9,36],"have":[10],"been":[11],"proposed,":[12],"which":[13],"address":[14],"the":[15,28,52,55,76,94,105,111,116],"challenges":[16],"of":[17,25,54,100,110],"3D":[18,66,118],"environments":[19],"in":[20,27,79],"combination":[21],"with":[22],"six":[23],"degress":[24],"freedom":[26,101],"robot":[29,77],"position.":[30],"Commonly,":[31],"solutions":[32],"based":[33,86,144],"on":[34,87,145],"scan-matching":[35],"are":[37,73,102],"applied.":[38],"contrast":[40],"to":[41,46,61,132],"these":[42],"approaches,":[43],"we":[44,121],"propose":[45],"use":[47],"a":[48,123,130],"particle":[49,58],"filter":[50,59,64],"transferring":[51],"concept":[53],"2D":[56],"Rao-Blackwellized":[57],"SLAM":[60],"3D.":[62],"As":[63],"input,":[65],"laser":[67],"range":[68],"data":[69],"odometry":[71],"readings":[72],"obtained":[74,148],"while":[75],"is":[78,84],"motion.":[80],"The":[81],"ground":[82],"plane":[83],"estimated":[85],"previously":[88],"built":[89],"map":[90,119],"parts,":[91],"thereby":[92],"approaching":[93],"problem":[95],"that":[96],"not":[97],"all":[98],"degrees":[99],"covered":[103],"by":[104,149],"odometry.":[106],"To":[107],"gain":[108],"control":[109],"high":[112],"memory":[113,124],"requirements":[114],"for":[115],"particles'":[117],"representations,":[120],"introduce":[122],"efficient":[125],"search":[126],"structure":[127],"adapt":[129],"technique":[131],"efficiently":[133],"organize":[134],"share":[136],"maps":[137],"between":[138],"particles.":[139],"We":[140],"evaluate":[141],"our":[142],"approach":[143],"experimental":[146],"results":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}