{"id":"https://openalex.org/W2119538218","doi":"https://doi.org/10.1109/tits.2009.2026444","title":"Nonlinear Constraint Network Optimization for Efficient Map Learning","display_name":"Nonlinear Constraint Network Optimization for Efficient Map Learning","publication_year":2009,"publication_date":"2009-07-15","ids":{"openalex":"https://openalex.org/W2119538218","doi":"https://doi.org/10.1109/tits.2009.2026444","mag":"2119538218"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2009.2026444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2009.2026444","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Grisetti","raw_affiliation_strings":["Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Computer Science , University of Freiburg , Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science , University of Freiburg , Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Stachniss","raw_affiliation_strings":["Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Computer Science , University of Freiburg , Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science , University of Freiburg , Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Burgard","raw_affiliation_strings":["Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Computer Science , University of Freiburg , Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Autonomous Intelligent Systems, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science , University of Freiburg , Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":566.1705,"has_fulltext":false,"cited_by_count":223,"citation_normalized_percentile":{"value":0.99995663,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"10","issue":"3","first_page":"428","last_page":"439"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9955000281333923,"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/computer-science","display_name":"Computer science","score":0.6172224283218384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5234548449516296},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5119224786758423},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5098975896835327},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4973945915699005},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4591178297996521},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4469156861305237},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4383968114852905},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43328163027763367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4007995128631592},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39036327600479126},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.30079492926597595},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1971685290336609},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13580244779586792}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6172224283218384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5234548449516296},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5119224786758423},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5098975896835327},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4973945915699005},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4591178297996521},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4469156861305237},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4383968114852905},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43328163027763367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4007995128631592},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39036327600479126},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.30079492926597595},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1971685290336609},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13580244779586792},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tits.2009.2026444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2009.2026444","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.157.1591","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.157.1591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti09its.pdf","raw_type":"text"},{"id":"pmh:oai:aleph.bib-bvb.de:BVB01-025936660","is_oa":false,"landing_page_url":"http://mdz-nbn-resolving.de/urn:nbn:de:bvb:12-bsb00082318-7","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"software, multimedia"},{"id":"pmh:oai:iris.uniroma1.it:11573/137103","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/137103","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3283400609","display_name":null,"funder_award_id":"SFB/TR-8","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"},{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W102654645","https://openalex.org/W1494141623","https://openalex.org/W1540781502","https://openalex.org/W1551215724","https://openalex.org/W1656165940","https://openalex.org/W1855113498","https://openalex.org/W1891947214","https://openalex.org/W1937083578","https://openalex.org/W1977464512","https://openalex.org/W1985392020","https://openalex.org/W2002087336","https://openalex.org/W2015997601","https://openalex.org/W2064169939","https://openalex.org/W2098774881","https://openalex.org/W2099576286","https://openalex.org/W2101914010","https://openalex.org/W2103393159","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2109749443","https://openalex.org/W2120353515","https://openalex.org/W2132070397","https://openalex.org/W2133048394","https://openalex.org/W2133759223","https://openalex.org/W2136736983","https://openalex.org/W2137043637","https://openalex.org/W2140027085","https://openalex.org/W2143220699","https://openalex.org/W2148228392","https://openalex.org/W2149895934","https://openalex.org/W2152422184","https://openalex.org/W2152940753","https://openalex.org/W2153573528","https://openalex.org/W2154844948","https://openalex.org/W2155537009","https://openalex.org/W2156561799","https://openalex.org/W2169053332","https://openalex.org/W2173782939","https://openalex.org/W2502829370","https://openalex.org/W2547720655","https://openalex.org/W2912813311","https://openalex.org/W3143919370","https://openalex.org/W4229727857","https://openalex.org/W4239855686","https://openalex.org/W6604153923","https://openalex.org/W6632374334","https://openalex.org/W6632889508","https://openalex.org/W6675376843","https://openalex.org/W6675456536","https://openalex.org/W6675815664","https://openalex.org/W6682621613","https://openalex.org/W6682778782","https://openalex.org/W6685123492","https://openalex.org/W6758168215"],"related_works":["https://openalex.org/W2144728118","https://openalex.org/W2130389219","https://openalex.org/W2105738972","https://openalex.org/W4280624864","https://openalex.org/W4206486921","https://openalex.org/W2058063222","https://openalex.org/W2734306012","https://openalex.org/W2543783417","https://openalex.org/W2028864324","https://openalex.org/W2134943711"],"abstract_inverted_index":{"Learning":[0],"models":[1],"of":[2,7,11,22,50,87,100,111,114,122,140,146,155,175,214],"the":[3,8,38,55,83,112,115,120,123,138,141,144,147,153,156,166,207,215],"environment":[4],"is":[5,72,161],"one":[6],"fundamental":[9],"tasks":[10],"mobile":[12],"robots":[13],"since":[14],"maps":[15,213],"are":[16],"needed":[17],"for":[18],"a":[19,59,66,108,173],"wide":[20],"range":[21],"robotic":[23,32],"applications,":[24,33],"such":[25],"as":[26,97],"navigation":[27],"and":[28,34,77,90,93,125,150,169,185,199,210],"transportation":[29],"tasks,":[30],"service":[31],"several":[35],"others.":[36],"In":[37,61],"past,":[39],"numerous":[40],"efficient":[41,68],"approaches":[42,209],"to":[43,74,136,143,152,163],"map":[44],"learning":[45],"have":[46],"been":[47],"proposed.":[48],"Most":[49],"them,":[51],"however,":[52],"assume":[53],"that":[54,71,117],"robot":[56],"lives":[57],"on":[58],"plane.":[60],"this":[62],"paper,":[63],"we":[64,195],"present":[65],"highly":[67],"maximum-likelihood":[69],"approach":[70,81,160],"able":[73,162],"solve":[75],"3-D":[76,178],"2-D":[78],"problems.":[79,180],"Our":[80],"addresses":[82],"so-called":[84],"graph-based":[85,191],"formulation":[86],"simultaneous":[88],"localization":[89],"mapping":[91,179],"(SLAM)":[92],"can":[94,126],"be":[95],"seen":[96],"an":[98],"extension":[99],"Olson's":[101],"algorithm":[102,124,142],"toward":[103],"non-flat":[104],"environments.":[105],"It":[106],"applies":[107],"novel":[109],"parameterization":[110],"nodes":[113],"graph":[116],"significantly":[118],"improves":[119],"performance":[121],"cope":[127],"with":[128,188],"arbitrary":[129],"network":[130],"topologies.":[131],"The":[132],"latter":[133],"allows":[134],"us":[135],"bound":[137],"complexity":[139],"size":[145],"mapped":[148],"area":[149],"not":[151],"length":[154],"trajectory.":[157],"Furthermore,":[158],"our":[159,183,202],"appropriately":[164],"distribute":[165],"roll,":[167],"pitch,":[168],"yaw":[170],"error":[171],"over":[172],"sequence":[174],"poses":[176],"in":[177,197],"We":[181],"implemented":[182],"technique":[184],"compared":[186],"it":[187],"multiple":[189],"other":[190,208],"SLAM":[192],"solutions.":[193],"As":[194],"demonstrate":[196],"simulated":[198],"real-world":[200],"experiments,":[201],"method":[203],"converges":[204],"faster":[205],"than":[206],"yields":[211],"accurate":[212],"environment.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":21},{"year":2014,"cited_by_count":24},{"year":2013,"cited_by_count":21},{"year":2012,"cited_by_count":20}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}