{"id":"https://openalex.org/W4394966915","doi":"https://doi.org/10.1109/tii.2024.3384626","title":"Conditional Weighted Linear Fitting for 2D-LiDAR-Mapping of Indoor SLAM","display_name":"Conditional Weighted Linear Fitting for 2D-LiDAR-Mapping of Indoor SLAM","publication_year":2024,"publication_date":"2024-04-19","ids":{"openalex":"https://openalex.org/W4394966915","doi":"https://doi.org/10.1109/tii.2024.3384626"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3384626","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2024.3384626","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10505813.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10505813.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030297327","display_name":"Natalia Prieto-Fern\u00e1ndez","orcid":"https://orcid.org/0000-0003-2974-7426"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Natalia Prieto-Fern\u00e1ndez","raw_affiliation_strings":["SECOMUCI Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2974-7426","affiliations":[{"raw_affiliation_string":"SECOMUCI Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092119501","display_name":"Sergio Fern\u00e1ndez-Blanco","orcid":"https://orcid.org/0000-0001-6296-9632"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sergio Fern\u00e1ndez-Blanco","raw_affiliation_strings":["Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6296-9632","affiliations":[{"raw_affiliation_string":"Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092119502","display_name":"\u00c1lvaro Fern\u00e1ndez-Blanco","orcid":"https://orcid.org/0000-0001-6510-479X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"\u00c1lvaro Fern\u00e1ndez-Blanco","raw_affiliation_strings":["Universidad Carlos III de Madrid, Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6510-479X","affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011839068","display_name":"Jos\u00e9 Alberto Ben\u00edtez\u2010Andrades","orcid":"https://orcid.org/0000-0002-4450-349X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Alberto Ben\u00edtez-Andrades","raw_affiliation_strings":["SALBIS Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4450-349X","affiliations":[{"raw_affiliation_string":"SALBIS Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092119503","display_name":"Francisco Carro-De-Lorenzo","orcid":"https://orcid.org/0000-0002-0485-6987"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francisco Carro-De-Lorenzo","raw_affiliation_strings":["TRESCA Ingenier&#x00ED;a S.A., Le&#x00F3;n, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0485-6987","affiliations":[{"raw_affiliation_string":"TRESCA Ingenier&#x00ED;a S.A., Le&#x00F3;n, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059923244","display_name":"Carmen Benavides","orcid":"https://orcid.org/0000-0002-6514-6858"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carmen Benavides","raw_affiliation_strings":["SALBIS Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain"],"raw_orcid":"https://orcid.org/0000-0002-6514-6858","affiliations":[{"raw_affiliation_string":"SALBIS Research Group, Department of Electric, Systems and Automatics Engineering, Universidad de Le&#x00F3;n, Le&#x00F3;n, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8585,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96846744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"20","issue":"7","first_page":"9579","last_page":"9587"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7741594910621643},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6133541464805603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4597042500972748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40145909786224365},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3877641260623932},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.325420081615448},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18295255303382874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.162734717130661}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7741594910621643},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6133541464805603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4597042500972748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40145909786224365},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3877641260623932},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.325420081615448},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18295255303382874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.162734717130661},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3384626","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2024.3384626","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10505813.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tii.2024.3384626","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2024.3384626","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10505813.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320328351","display_name":"Junta de Castilla y Le\u00f3n","ror":"https://ror.org/02s8dab97"},{"id":"https://openalex.org/F4320331769","display_name":"Universidad de Le\u00f3n","ror":null},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394966915.pdf","grobid_xml":"https://content.openalex.org/works/W4394966915.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W272376289","https://openalex.org/W2076292910","https://openalex.org/W2090233997","https://openalex.org/W2118691294","https://openalex.org/W2132089677","https://openalex.org/W2142631141","https://openalex.org/W2146881125","https://openalex.org/W2618653487","https://openalex.org/W2762897752","https://openalex.org/W2969467151","https://openalex.org/W3003005306","https://openalex.org/W3016600231","https://openalex.org/W3046243865","https://openalex.org/W3100435238","https://openalex.org/W3171345751","https://openalex.org/W3173112500","https://openalex.org/W3196708299","https://openalex.org/W4225835048","https://openalex.org/W4285192725","https://openalex.org/W4301689241","https://openalex.org/W4389733920","https://openalex.org/W6681672476"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2058170566","https://openalex.org/W2755342338"],"abstract_inverted_index":{"The":[0,37,67,79],"ability":[1,101],"to":[2,45,105],"map":[3,31],"an":[4],"unknown":[5],"environment":[6],"is":[7,70,141],"a":[8,27,74],"fundamental":[9],"milestone":[10],"for":[11,30,123,145],"autonomous":[12],"robotic":[13],"vehicles.":[14],"Solutions":[15],"in":[16,34,87,115,143],"this":[17],"field":[18],"must":[19],"combine":[20],"efficiency,":[21],"accuracy,":[22],"and":[23,40,51,57,93],"precision.":[24],"We":[25],"propose":[26],"novel":[28],"methodology":[29,85,104],"feature":[32],"extraction":[33],"indoor":[35],"environments.":[36],"mathematical":[38],"model":[39],"its":[41],"implementation":[42],"are":[43,61],"designed":[44],"operate":[46],"with":[47,126],"2-D":[48],"light":[49],"detection":[50],"ranging":[52],"(LiDAR)":[53],"measurements.":[54],"Map":[55],"parameters":[56],"associated":[58],"uncertainty":[59],"levels":[60],"determined":[62],"through":[63],"bivariate":[64],"linear":[65],"regression.":[66],"final":[68],"step":[69],"experimental":[71],"validation,":[72],"using":[73],"low-cost":[75],"commercial":[76],"LiDAR":[77],"sensor.":[78],"main":[80],"contributions":[81],"of":[82,90,102,109,138],"the":[83,88,97,100,135,139],"proposed":[84],"lie":[86],"domains":[89],"computational":[91,116],"efficiency":[92],"uncertainty.":[94],"In":[95],"addition,":[96],"results":[98],"prove":[99],"our":[103],"handle":[106],"large":[107],"volumes":[108],"data":[110],"while":[111],"maintaining":[112],"restrained":[113],"growth":[114],"time.":[117],"This":[118],"outcome":[119],"suggests":[120],"considerable":[121],"potential":[122],"real-time":[124],"applications":[125],"limited":[127],"hardware":[128],"resources.":[129],"A":[130],"second":[131],"methodology,":[132],"extracted":[133],"from":[134],"current":[136],"state":[137],"art,":[140],"used":[142],"parallel":[144],"benchmarking":[146],"purposes.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
