{"id":"https://openalex.org/W1990152844","doi":"https://doi.org/10.1109/sdf.2012.6327899","title":"Simultaneous localization and mapping for non-parametric potential field environments","display_name":"Simultaneous localization and mapping for non-parametric potential field environments","publication_year":2012,"publication_date":"2012-09-01","ids":{"openalex":"https://openalex.org/W1990152844","doi":"https://doi.org/10.1109/sdf.2012.6327899","mag":"1990152844"},"language":"en","primary_location":{"id":"doi:10.1109/sdf.2012.6327899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sdf.2012.6327899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF)","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/A5101559135","display_name":"Jamie Murphy","orcid":"https://orcid.org/0000-0002-3935-4303"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"James Murphy","raw_affiliation_strings":["Department of Engineering, University of Cambridge, Cambridge, UK","Dept of Engineering, University of Cambridge, Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]},{"raw_affiliation_string":"Dept of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020836373","display_name":"Simon Godsill","orcid":"https://orcid.org/0000-0001-9522-9681"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Godsill","raw_affiliation_strings":["Department of Engineering, University of Cambridge, Cambridge, UK","Dept of Engineering, University of Cambridge, Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]},{"raw_affiliation_string":"Dept of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101559135"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":0.8843,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78768965,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9994000196456909,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9994000196456909,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7378464341163635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6738088130950928},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6471412777900696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.632507860660553},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.62785804271698},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.627126932144165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5982959270477295},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5531267523765564},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5520938038825989},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5214740037918091},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47474247217178345},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.467612624168396},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4486345648765564},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.43720439076423645},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16478613018989563},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0733327865600586}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7378464341163635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6738088130950928},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6471412777900696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.632507860660553},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.62785804271698},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.627126932144165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5982959270477295},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5531267523765564},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5520938038825989},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5214740037918091},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47474247217178345},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.467612624168396},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4486345648765564},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.43720439076423645},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16478613018989563},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0733327865600586},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sdf.2012.6327899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sdf.2012.6327899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF)","raw_type":"proceedings-article"},{"id":"pmh:oai:generic.eprints.org:1293653","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1293653/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1497459133","https://openalex.org/W1749494163","https://openalex.org/W1990012555","https://openalex.org/W2055936398","https://openalex.org/W2059697053","https://openalex.org/W2098626000","https://openalex.org/W2099768828","https://openalex.org/W2103393159","https://openalex.org/W2119539043","https://openalex.org/W2127578024","https://openalex.org/W2130363011","https://openalex.org/W2131598171","https://openalex.org/W2140242774","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W4211049957","https://openalex.org/W4244486013","https://openalex.org/W6629626527","https://openalex.org/W6674582482","https://openalex.org/W6674989108","https://openalex.org/W6675456536","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W2055243143","https://openalex.org/W4321636575","https://openalex.org/W1986418932","https://openalex.org/W2357796999","https://openalex.org/W2045526782","https://openalex.org/W2741131631","https://openalex.org/W2156919374","https://openalex.org/W1984019423","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,18,36,49,123],"new":[4],"method":[5,66],"of":[6,31,90],"simultaneous":[7],"object":[8,46],"tracking":[9,68],"(localization)":[10],"and":[11,54,105],"environment":[12],"mapping":[13],"for":[14,45,62],"objects":[15],"moving":[16],"in":[17,48,70,122],"potential":[19,33,50,63],"feld":[20,51],"environment.":[21],"Only":[22],"weak":[23],"non-parametric":[24],"assumptions":[25],"are":[26],"made":[27],"about":[28],"the":[29,32,88],"shape":[30],"function":[34],"using":[35,110],"Gaussian":[37],"process":[38],"prior.":[39],"A":[40],"second-and-a-half":[41],"order":[42],"numerical":[43],"scheme":[44],"motion":[47],"is":[52,56,74],"formulated":[53],"it":[55],"shown":[57],"how":[58],"to":[59,79],"use":[60],"this":[61],"inference.":[64],"The":[65],"improves":[67],"performance":[69],"structured":[71],"environments,":[72],"as":[73,87],"illustrated":[75],"by":[76],"its":[77],"application":[78],"urban":[80],"car":[81],"tracking.":[82,113],"Hidden":[83],"environmental":[84],"structure":[85],"such":[86],"location":[89],"obstructions":[91],"can":[92,101,106,118],"also":[93,119],"be":[94,103,108,120],"revealed.":[95],"Prior":[96],"knowledge":[97],"(e.g.":[98],"from":[99,112,115],"maps)":[100],"easily":[102],"incorporated":[104],"then":[107],"updated":[109],"feedback":[111],"Information":[114],"multiple":[116],"targets":[117],"handled":[121],"straightforward":[124],"manner.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
