{"id":"https://openalex.org/W4403446000","doi":"https://doi.org/10.1109/tase.2024.3475735","title":"Approximate Inference Particle Filtering for Mobile Robot SLAM","display_name":"Approximate Inference Particle Filtering for Mobile Robot SLAM","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403446000","doi":"https://doi.org/10.1109/tase.2024.3475735"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3475735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3475735","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100450384","display_name":"Shuo Zhang","orcid":"https://orcid.org/0000-0002-7030-4742"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shuo Zhang","raw_affiliation_strings":["Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I192455969"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093853","display_name":"Jinjun Shan","orcid":"https://orcid.org/0000-0002-4911-6739"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jinjun Shan","raw_affiliation_strings":["Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I192455969"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100656716","display_name":"Yibo Liu","orcid":"https://orcid.org/0000-0003-1143-3242"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yibo Liu","raw_affiliation_strings":["Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I192455969"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100450384"],"corresponding_institution_ids":["https://openalex.org/I192455969"],"apc_list":null,"apc_paid":null,"fwci":8.3872,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96936117,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"7967","last_page":"7978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9891999959945679,"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":0.9891999959945679,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9546999931335449,"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"}},{"id":"https://openalex.org/T12676","display_name":"Machine Learning and ELM","score":0.9409000277519226,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7484331130981445},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7390334010124207},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5943305492401123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5899376273155212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609700679779053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5210798978805542},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3954727053642273},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.22332298755645752}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7484331130981445},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7390334010124207},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5943305492401123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5899376273155212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609700679779053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5210798978805542},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3954727053642273},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.22332298755645752}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3475735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3475735","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1970789124","https://openalex.org/W2001720673","https://openalex.org/W2054288492","https://openalex.org/W2124886850","https://openalex.org/W2143864104","https://openalex.org/W2153054365","https://openalex.org/W2154202063","https://openalex.org/W2338471795","https://openalex.org/W2610861717","https://openalex.org/W2745007981","https://openalex.org/W2746349752","https://openalex.org/W2883819615","https://openalex.org/W2910054127","https://openalex.org/W3022310485","https://openalex.org/W3043533853","https://openalex.org/W3112111169","https://openalex.org/W3159434032","https://openalex.org/W3179120174","https://openalex.org/W4212863985","https://openalex.org/W4226493205","https://openalex.org/W4232464081","https://openalex.org/W4306940599","https://openalex.org/W4311415873","https://openalex.org/W4311628417","https://openalex.org/W4388190250","https://openalex.org/W4390871811","https://openalex.org/W4401990679","https://openalex.org/W6675456536","https://openalex.org/W6682324061","https://openalex.org/W6682648773","https://openalex.org/W6694073334","https://openalex.org/W6763808890"],"related_works":["https://openalex.org/W2015530857","https://openalex.org/W1991846142","https://openalex.org/W2556064263","https://openalex.org/W2282975717","https://openalex.org/W2122871747","https://openalex.org/W2539990421","https://openalex.org/W3114279067","https://openalex.org/W1986073206","https://openalex.org/W3004220299","https://openalex.org/W2146873086"],"abstract_inverted_index":{"This":[0,139],"paper":[1,140],"proposes":[2,141],"approximate":[3,72],"inference":[4],"particle":[5,57,106],"filtering":[6],"for":[7,129,224],"mobile":[8,118,130,143,213,226],"robot":[9,50,64,80,131,144,150],"simultaneous":[10],"localization":[11],"and":[12,30,52,66,82,95,126,153,179,188,209],"mapping":[13],"(SLAM)":[14],"with":[15,211],"landmarks.":[16],"Range-bearing":[17,159],"measurements":[18,160],"are":[19,85,97,161],"obtained":[20],"by":[21,87],"detecting":[22],"landmarks":[23],"using":[24],"an":[25,116],"onboard":[26,155],"laser":[27,121,156,168],"range":[28,122,157,169],"finder":[29,123,170],"the":[31,49,63,75,79,101,104,149,154,167,172,175,182,216,221],"maximum":[32],"likelihood":[33],"approach":[34],"is":[35,45,59,113,127],"used":[36,128],"to":[37,61,99,109,115,191,201],"handle":[38],"unknown":[39,192],"data":[40,165,193],"associations.":[41,194],"The":[42,55,120,177,195],"system":[43,136],"model":[44,152],"created":[46],"depending":[47],"on":[48,71,148],"motion":[51,151],"range-bearing":[53],"measurements.":[54],"new":[56],"filter":[58],"developed":[60],"estimate":[62],"pose":[65,81],"landmark":[67,83],"locations":[68,84],"separately":[69],"based":[70,147],"inferences,":[73],"where":[74],"intractable":[76],"distributions":[77,90],"of":[78,103,166,174],"approximated":[86],"optimal":[88],"Gaussian":[89],"minimizing":[91],"Kullback-Leibler":[92],"divergences.":[93],"Simulations":[94],"experiments":[96,180],"provided":[98],"show":[100],"performance":[102],"proposed":[105,183,196],"filter.":[107],"Note":[108],"Practitioners\u2014The":[110],"SLAM":[111,132,145,222],"technique":[112,223],"crucial":[114],"autonomous":[117],"robot.":[119,214],"perceives":[124],"surroundings":[125],"in":[133],"global":[134],"positioning":[135],"denied":[137],"environments.":[138],"a":[142,212],"method":[146,184,197],"finder.":[158],"extracted":[162],"from":[163],"raw":[164],"as":[171,206],"inputs":[173],"method.":[176],"simulations":[178],"indicate":[181],"has":[185],"better":[186],"accuracy":[187],"more":[189],"robust":[190],"can":[198],"be":[199],"applied":[200],"many":[202],"practical":[203],"applications":[204],"such":[205],"transport":[207],"operations":[208],"mowing":[210],"In":[215],"future,":[217],"we":[218],"will":[219],"address":[220],"multiple":[225],"robots.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
