{"id":"https://openalex.org/W2073514935","doi":"https://doi.org/10.1109/romoco.2013.6614622","title":"Invariant Information Local Sub-map Filter (IILSF) for efficient simultaneous localisation and mapping of large environments","display_name":"Invariant Information Local Sub-map Filter (IILSF) for efficient simultaneous localisation and mapping of large environments","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2073514935","doi":"https://doi.org/10.1109/romoco.2013.6614622","mag":"2073514935"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2013.6614622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2013.6614622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"9th International Workshop on Robot Motion and Control","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/A5088029236","display_name":"Okechukwu Clifford Ihemadu","orcid":null},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"O. C. Ihemadu","raw_affiliation_strings":["Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK"],"affiliations":[{"raw_affiliation_string":"Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","institution_ids":["https://openalex.org/I126231945"]},{"raw_affiliation_string":"Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076360626","display_name":"Wasif Naeem","orcid":"https://orcid.org/0000-0001-6849-6987"},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"W. Naeem","raw_affiliation_strings":["Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK"],"affiliations":[{"raw_affiliation_string":"Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","institution_ids":["https://openalex.org/I126231945"]},{"raw_affiliation_string":"Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112273881","display_name":"R. S. Ferguson","orcid":null},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"R. S. Ferguson","raw_affiliation_strings":["Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK"],"affiliations":[{"raw_affiliation_string":"Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","institution_ids":["https://openalex.org/I126231945"]},{"raw_affiliation_string":"Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108123119","display_name":"Jing Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jing Deng","raw_affiliation_strings":["Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK"],"affiliations":[{"raw_affiliation_string":"Energy, Power and Intelligent Control, Queen's University of Belfast, United Kingdom","institution_ids":["https://openalex.org/I126231945"]},{"raw_affiliation_string":"Energy, Power & Intell. Control, Queen's Univ. of Belfast, Belfast, UK","institution_ids":["https://openalex.org/I126231945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088029236"],"corresponding_institution_ids":["https://openalex.org/I126231945"],"apc_list":null,"apc_paid":null,"fwci":6.9889,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97549939,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"8","issue":null,"first_page":"282","last_page":"287"},"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":0.9994000196456909,"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":0.9988999962806702,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8287971615791321},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.732001781463623},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.7232056260108948},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6900471448898315},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.6882398724555969},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6715021133422852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6081223487854004},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5776873230934143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5626541376113892},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.486870676279068},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4759397506713867},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4688721001148224},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.44139647483825684},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28443872928619385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2656545639038086},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2124585211277008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1353006660938263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10947829484939575}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8287971615791321},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.732001781463623},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.7232056260108948},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6900471448898315},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.6882398724555969},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6715021133422852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6081223487854004},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5776873230934143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5626541376113892},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.486870676279068},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4759397506713867},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4688721001148224},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.44139647483825684},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28443872928619385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2656545639038086},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2124585211277008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1353006660938263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10947829484939575},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/romoco.2013.6614622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2013.6614622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"9th International Workshop on Robot Motion and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.qub.ac.uk/portal:publications/bf24baf6-cdd7-46ac-8c12-c8e25ab0334c","is_oa":false,"landing_page_url":"https://pure.qub.ac.uk/en/publications/bf24baf6-cdd7-46ac-8c12-c8e25ab0334c","pdf_url":null,"source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ihemadu , O , Naeem , W , Ferguson , S &amp; Deng , J 2013 , ' Invariant Information Local Sub-map Filter (IILSF) for Efficient Simultaneous Localisation and Mapping of Large Environments ' , Paper presented at IEEE 9th International Workshop on Robot Motion and Control. , Wasowo Palace, Poznan. , Poland , 03/07/2013 - 05/07/2013 pp. 282-287 . https://doi.org/10.1109/RoMoCo.2013.6614622","raw_type":"conferenceObject"}],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1490092700","https://openalex.org/W1497575066","https://openalex.org/W1576910433","https://openalex.org/W1991793962","https://openalex.org/W2022906269","https://openalex.org/W2082313107","https://openalex.org/W2137627627","https://openalex.org/W2163016745","https://openalex.org/W2186673235","https://openalex.org/W6686789871"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W2073514935","https://openalex.org/W2184314008"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,130],"Invariant":[4],"Information":[5],"Local":[6],"Sub-map":[7],"Filter":[8,40],"(IILSF)":[9],"as":[10],"a":[11,21],"technique":[12,30,81],"for":[13],"consistent":[14,133],"Simultaneous":[15],"Localisation":[16],"and":[17,35,99,104,132,143],"Mapping":[18],"(SLAM)":[19],"in":[20,57,110,136],"large":[22],"environment.":[23],"It":[24],"harnesses":[25],"the":[26,33,67,71,83,90,95,118],"benefits":[27],"of":[28,37,48,55,61,93],"sub-map":[29],"to":[31,82,122,128,138],"improve":[32],"consistency":[34],"efficiency":[36],"Extended":[38],"Kalman":[39],"(EKF)":[41],"based":[42,85],"SLAM.":[43],"The":[44],"IILSF":[45],"makes":[46],"use":[47],"invariant":[49],"information":[50],"obtained":[51],"from":[52],"estimated":[53],"locations":[54],"features":[56],"independent":[58],"sub-maps,":[59],"instead":[60],"incorporating":[62],"every":[63],"observation":[64],"directly":[65],"into":[66],"global":[68,72,96,134],"map.":[69],"Then":[70],"map":[73,97,126],"is":[74],"updated":[75],"at":[76],"regular":[77],"intervals.":[78],"Applying":[79],"this":[80],"EKF":[84],"SLAM":[86],"algorithm:":[87],"(a)":[88],"reduces":[89],"computational":[91,141],"complexity":[92],"maintaining":[94],"estimates":[98],"(b)":[100],"simplifies":[101],"transformation":[102],"complexities":[103],"data":[105,144],"association":[106,145],"ambiguities":[107],"usually":[108],"experienced":[109],"fusing":[111],"sub-maps":[112],"together.":[113],"Simulation":[114],"results":[115],"show":[116],"that":[117],"method":[119],"was":[120],"able":[121],"accurately":[123],"fuse":[124],"local":[125],"observations":[127],"generate":[129],"efficient":[131],"map,":[135],"addition":[137],"significantly":[139],"reducing":[140],"cost":[142],"ambiguities.":[146]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
