{"id":"https://openalex.org/W1974765892","doi":"https://doi.org/10.1109/smc.2014.6974407","title":"EM-EKF based visual SLAM for simple robot localization","display_name":"EM-EKF based visual SLAM for simple robot localization","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W1974765892","doi":"https://doi.org/10.1109/smc.2014.6974407","mag":"1974765892"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2014.6974407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974407","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048340341","display_name":"Minxiang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Minxiang Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Calgary, Calgary, Alberta, Canada","Dept. of Electrical and Computer Engineering, Schulich School of Engineering, University of Calgary, Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]},{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Schulich School of Engineering, University of Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061884304","display_name":"Henry Leung","orcid":"https://orcid.org/0000-0002-5984-107X"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Henry Leung","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Calgary, Calgary, Alberta, Canada","Dept. of Electrical and Computer Engineering, Schulich School of Engineering, University of Calgary, Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]},{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Schulich School of Engineering, University of Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I168635309"],"apc_list":null,"apc_paid":null,"fwci":1.8511,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83021361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3121","last_page":"3125"},"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":0.9991999864578247,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9954000115394592,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.9097227454185486},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8351482152938843},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6311545968055725},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6286142468452454},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6147717237472534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6128720641136169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5596687197685242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5563501119613647},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5050514340400696},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4946586787700653},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4892127513885498},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4408811032772064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31951940059661865}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.9097227454185486},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8351482152938843},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6311545968055725},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6286142468452454},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6147717237472534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6128720641136169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5596687197685242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5563501119613647},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5050514340400696},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4946586787700653},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4892127513885498},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4408811032772064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31951940059661865},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2014.6974407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974407","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W2066744005","https://openalex.org/W2102664783","https://openalex.org/W2104932602","https://openalex.org/W2109453544","https://openalex.org/W2124535811","https://openalex.org/W2124935638","https://openalex.org/W2130422193","https://openalex.org/W2140658564","https://openalex.org/W2146023544","https://openalex.org/W2165848869","https://openalex.org/W3083706479"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2005337052","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"novel":[4],"SLAM":[5,21,69,81],"method":[6,70],"based":[7,71,82],"on":[8,24,72,83],"the":[9,19,25,37,51,55,66,73,78,95,100,103,107,110],"filter":[10,39],"that":[11,28],"fuses":[12],"EM":[13],"algorithm":[14],"in":[15,34,58,94,102],"EKF.":[16],"Due":[17],"to":[18,31,42,77,87,90],"visual":[20],"mostly":[22],"depends":[23],"sensor":[26],"information":[27,57],"is":[29,40,85],"hard":[30],"be":[32],"obtained":[33],"high-level":[35],"accuracy,":[36],"proposed":[38,74],"designed":[41],"deal":[43],"with":[44],"this":[45],"problem":[46],"since":[47],"it":[48],"can":[49],"estimate":[50],"unknown":[52],"parameter":[53],"from":[54],"known":[56],"every":[59],"frame.":[60],"Realtime":[61],"experimental":[62],"results":[63],"also":[64,98],"prove":[65],"advantages":[67],"of":[68,109],"filter.":[75],"Compared":[76],"regular":[79],"EKF,":[80],"EM-EKF":[84],"suggested":[86],"have":[88],"up":[89],"60":[91],"percent":[92],"improvement":[93],"accuracy.":[96],"It":[97],"shows":[99],"advantage":[101],"convergence":[104],"speed":[105],"and":[106],"stability":[108],"system.":[111]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}