{"id":"https://openalex.org/W4399729482","doi":"https://doi.org/10.1109/syscon61195.2024.10553568","title":"3D EKF-SLAM Using Cylindrical and Planar Features With Multilevel Mapping Representation","display_name":"3D EKF-SLAM Using Cylindrical and Planar Features With Multilevel Mapping Representation","publication_year":2024,"publication_date":"2024-04-15","ids":{"openalex":"https://openalex.org/W4399729482","doi":"https://doi.org/10.1109/syscon61195.2024.10553568"},"language":"en","primary_location":{"id":"doi:10.1109/syscon61195.2024.10553568","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/syscon61195.2024.10553568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","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/A5073351718","display_name":"Leonardo Mariga","orcid":null},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Leonardo Mariga","raw_affiliation_strings":["Instituto Tecnol&#x00F3;gico de Aeron&#x00E1;utica,Division of Electronic Engineering,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol&#x00F3;gico de Aeron&#x00E1;utica,Division of Electronic Engineering,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002489731","display_name":"Cairo L\u00facio Nascimento","orcid":"https://orcid.org/0000-0002-2418-0320"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cairo L\u00facio Nascimento","raw_affiliation_strings":["Instituto Tecnol&#x00F3;gico de Aeron&#x00E1;utica,Division of Electronic Engineering,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol&#x00F3;gico de Aeron&#x00E1;utica,Division of Electronic Engineering,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037835295","display_name":"S\u00e9rgio R. Barros dos Santos","orcid":"https://orcid.org/0000-0002-2716-7455"},"institutions":[{"id":"https://openalex.org/I88273585","display_name":"Universidade Federal de S\u00e3o Paulo","ror":"https://ror.org/02k5swt12","country_code":"BR","type":"education","lineage":["https://openalex.org/I88273585"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"S\u00e9rgio Ronaldo Barros Dos Santos","raw_affiliation_strings":["Universidade Federal de S&#x00E3;o Paulo,Institute of Science and Technology,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de S&#x00E3;o Paulo,Institute of Science and Technology,SP,Brazil","institution_ids":["https://openalex.org/I88273585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073351718"],"corresponding_institution_ids":["https://openalex.org/I107428990"],"apc_list":null,"apc_paid":null,"fwci":0.7561,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77717412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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":0.9962999820709229,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.992900013923645,"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":0.7529562711715698},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7199446558952332},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6653319597244263},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6347571015357971},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5408104062080383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.495566725730896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47618260979652405},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.24676832556724548},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2019536793231964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17462792992591858},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17278912663459778}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7529562711715698},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7199446558952332},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6653319597244263},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6347571015357971},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5408104062080383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.495566725730896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47618260979652405},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.24676832556724548},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2019536793231964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17462792992591858},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17278912663459778},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon61195.2024.10553568","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/syscon61195.2024.10553568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","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":17,"referenced_works":["https://openalex.org/W2109749443","https://openalex.org/W2336416123","https://openalex.org/W2786036844","https://openalex.org/W4206226097","https://openalex.org/W4252031641","https://openalex.org/W4285521193","https://openalex.org/W4385180198","https://openalex.org/W6631840434","https://openalex.org/W6632267817","https://openalex.org/W6635851590","https://openalex.org/W6667241411","https://openalex.org/W6675670885","https://openalex.org/W6681721558","https://openalex.org/W6747827861","https://openalex.org/W6775499301","https://openalex.org/W6784931907","https://openalex.org/W7070817500"],"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/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481","https://openalex.org/W2583542422"],"abstract_inverted_index":{"This":[0,59,124],"work":[1],"presents":[2],"an":[3,20,178],"expansion":[4],"of":[5,63,69,134,152,157],"the":[6,40,47,61,87,118,127,132,135,149,161],"traditional":[7],"landmark-based":[8],"EKF-SLAM":[9],"for":[10,92],"3D":[11,30],"indoor":[12],"environments.":[13],"It":[14],"uses":[15],"a":[16,25,64,170,174],"mobile":[17],"robot":[18,176],"with":[19,78,177],"RGBD":[21,179],"camera":[22],"to":[23,54,155,160],"decompose":[24],"scene":[26,41],"and":[27,44,52,102,116,130],"update":[28],"its":[29],"location.":[31],"A":[32],"point-cloud":[33,128,133],"map":[34,65],"is":[35,72,90],"reconstructed":[36],"by":[37],"initially":[38],"simplifying":[39],"into":[42],"cylinders":[43,105],"planes.":[45],"Then,":[46],"captured":[48],"points":[49,97],"are":[50,98],"segmented":[51],"associated":[53],"their":[55],"specific":[56],"EKF":[57,113],"feature.":[58,137],"enables":[60],"output":[62],"using":[66,100,173],"different":[67],"levels":[68],"abstraction,":[70],"which":[71],"helpful":[73],"when":[74],"working":[75],"in":[76,121,169],"applications":[77],"limited":[79],"memory":[80],"requirements.":[81],"In":[82],"our":[83,167],"feature":[84],"extraction":[85],"method,":[86],"RANSAC":[88],"algorithm":[89],"used":[91],"planar":[93],"segmentation.":[94],"The":[95,111],"non-planar":[96],"clustered":[99],"DBSCAN":[101],"parameterized":[103],"as":[104],"after":[106],"passing":[107],"through":[108],"validation":[109],"gates.":[110],"classical":[112],"framework":[114],"propagates":[115],"updates":[117],"features\u2019":[119],"states":[120],"each":[122],"step.":[123],"also":[125],"triggers":[126],"growth":[129],"increments":[131],"observed":[136],"Our":[138],"simulation":[139],"results":[140],"show":[141],"that":[142,158],"this":[143],"method":[144],"successfully":[145,165],"reconstructs":[146],"maps,":[147],"reducing":[148],"IAE":[150],"criteria":[151],"trajectory":[153],"error":[154],"15%":[156],"compared":[159],"odometry.":[162],"Finally,":[163],"we":[164],"validate":[166],"proposal":[168],"real-world":[171],"environment":[172],"ground":[175],"Intel":[180],"Realsense":[181],"camera.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
