{"id":"https://openalex.org/W3081395279","doi":"https://doi.org/10.1109/tvt.2020.3019581","title":"Heuristic Monte Carlo Algorithm for Unmanned Ground Vehicles Realtime Localization and Mapping","display_name":"Heuristic Monte Carlo Algorithm for Unmanned Ground Vehicles Realtime Localization and Mapping","publication_year":2020,"publication_date":"2020-08-26","ids":{"openalex":"https://openalex.org/W3081395279","doi":"https://doi.org/10.1109/tvt.2020.3019581","mag":"3081395279"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.3019581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3019581","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5063959018","display_name":"Dunjin Chen","orcid":"https://orcid.org/0000-0002-6033-9108"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dunjin Chen","raw_affiliation_strings":["College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6033-9108","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082041657","display_name":"Jian Weng","orcid":"https://orcid.org/0000-0003-4067-8230"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Weng","raw_affiliation_strings":["College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4067-8230","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033233243","display_name":"Feiran Huang","orcid":"https://orcid.org/0000-0003-4294-0212"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiran Huang","raw_affiliation_strings":["College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4294-0212","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114752471","display_name":"Jian L. Zhou","orcid":"https://orcid.org/0000-0003-2975-2719"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jian Zhou","raw_affiliation_strings":["Minglead Gene Co., Ltd, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2975-2719","affiliations":[{"raw_affiliation_string":"Minglead Gene Co., Ltd, Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101701563","display_name":"Yijun Mao","orcid":"https://orcid.org/0000-0001-8123-2564"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijun Mao","raw_affiliation_strings":["College of Mathematics and Informatics, South China Agricultural University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8123-2564","affiliations":[{"raw_affiliation_string":"College of Mathematics and Informatics, South China Agricultural University, Guangzhou, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100374795","display_name":"Xiaodong Liu","orcid":"https://orcid.org/0000-0002-8957-6297"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Liu","raw_affiliation_strings":["College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8957-6297","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology and the College of Cyber Security, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":26.1043,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99050146,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"69","issue":"10","first_page":"10642","last_page":"10655"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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/hough-transform","display_name":"Hough transform","score":0.7890803813934326},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.7291443943977356},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6666593551635742},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.6111716628074646},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.6087389588356018},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5754808187484741},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5548000335693359},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5338918566703796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4902098774909973},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4755118489265442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30278778076171875},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23994138836860657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1822049915790558},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11800193786621094}],"concepts":[{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.7890803813934326},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.7291443943977356},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6666593551635742},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.6111716628074646},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.6087389588356018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5754808187484741},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5548000335693359},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5338918566703796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4902098774909973},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4755118489265442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30278778076171875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23994138836860657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1822049915790558},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11800193786621094},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2020.3019581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3019581","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1363696916","display_name":"\u793e\u4ea4\u7f51\u7edc\u4e2d\u70ed\u70b9\u8bdd\u9898\u68c0\u6d4b\u4e0e\u4f20\u64ad\u5206\u6790\u7814\u7a76","funder_award_id":"61370126","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2012332915","display_name":null,"funder_award_id":"61202239","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3470454067","display_name":null,"funder_award_id":"61906075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G576546066","display_name":null,"funder_award_id":"61932010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7781975343","display_name":null,"funder_award_id":"20111102130003","funder_id":"https://openalex.org/F4320336024","funder_display_name":"Specialized Research Fund for the Doctoral Program of Higher Education of China"},{"id":"https://openalex.org/G7975877154","display_name":null,"funder_award_id":"2019A1515011920","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G8138572713","display_name":"\u57fa\u4e8e\u9762\u5411\u8bdd\u9898\u7684\u52a0\u6743\u793e\u4f1a\u7f51\u7edc\u7684\u4e2a\u6027\u5316\u63a8\u8350\u53ca\u68c0\u7d22\u6280\u672f\u7814\u7a76","funder_award_id":"61170189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8703924532","display_name":null,"funder_award_id":"SKLSDE-2013ZX-19","funder_id":"https://openalex.org/F4320326978","funder_display_name":"State Key Laboratory of Software Development Environment"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320326978","display_name":"State Key Laboratory of Software Development Environment","ror":null},{"id":"https://openalex.org/F4320336024","display_name":"Specialized Research Fund for the Doctoral Program of Higher Education of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W657953742","https://openalex.org/W1479814506","https://openalex.org/W1600276254","https://openalex.org/W1612880287","https://openalex.org/W1967740178","https://openalex.org/W1983043788","https://openalex.org/W1985777298","https://openalex.org/W1994684551","https://openalex.org/W2029895480","https://openalex.org/W2059068775","https://openalex.org/W2077057258","https://openalex.org/W2089133604","https://openalex.org/W2095019568","https://openalex.org/W2095498779","https://openalex.org/W2095650145","https://openalex.org/W2098875425","https://openalex.org/W2118691294","https://openalex.org/W2133976780","https://openalex.org/W2134351344","https://openalex.org/W2136782497","https://openalex.org/W2151501957","https://openalex.org/W2163224883","https://openalex.org/W2169781427","https://openalex.org/W2185802128","https://openalex.org/W2238582461","https://openalex.org/W2290604533","https://openalex.org/W2292230603","https://openalex.org/W2327437833","https://openalex.org/W2343277622","https://openalex.org/W2347073743","https://openalex.org/W2401933185","https://openalex.org/W2408580786","https://openalex.org/W2411338219","https://openalex.org/W2416461761","https://openalex.org/W2525848350","https://openalex.org/W2534082650","https://openalex.org/W2567166361","https://openalex.org/W2567239141","https://openalex.org/W2592770378","https://openalex.org/W2601175454","https://openalex.org/W2601312284","https://openalex.org/W2607626645","https://openalex.org/W2732989660","https://openalex.org/W2749230103","https://openalex.org/W2750632489","https://openalex.org/W2753941074","https://openalex.org/W2766213449","https://openalex.org/W2769323953","https://openalex.org/W2885747614","https://openalex.org/W2904489154","https://openalex.org/W2906647810","https://openalex.org/W2907780987","https://openalex.org/W2909424699","https://openalex.org/W2912413818","https://openalex.org/W2937111952","https://openalex.org/W2942619905","https://openalex.org/W2944296259","https://openalex.org/W3102869781","https://openalex.org/W3122190729","https://openalex.org/W4206401103","https://openalex.org/W4285719527","https://openalex.org/W6636211453","https://openalex.org/W6686689281","https://openalex.org/W6735924512","https://openalex.org/W6756690494"],"related_works":["https://openalex.org/W2058362826","https://openalex.org/W2143630717","https://openalex.org/W3204018997","https://openalex.org/W3208770186","https://openalex.org/W4213454840","https://openalex.org/W3021084886","https://openalex.org/W2601175454","https://openalex.org/W51549515","https://openalex.org/W4206989847","https://openalex.org/W4293093674"],"abstract_inverted_index":{"Realtime":[0],"localization":[1,36],"and":[2,7,37,65,71,87,106,133,150],"mapping":[3],"in":[4,15],"a":[5,12,25,49,81,130,134,151],"cluttered":[6],"noisy":[8],"indoor":[9],"environment":[10],"is":[11,53,116,139,148,157],"major":[13],"problem":[14],"autonomous":[16,45],"unmanned":[17],"ground":[18],"vehicle":[19],"(UGV)":[20],"navigation.":[21],"this":[22],"article":[23],"proposes":[24],"Heuristic":[26],"Monte":[27,34,125],"Carlo":[28,35,126],"algorithm":[29,138,147],"(HMCA)":[30],"based":[31],"on":[32],"the":[33,57,73,92,114,119,124,137,143,146],"Discrete":[38],"Hough":[39,58],"Transform":[40,59],"(DHT)":[41],"to":[42],"build":[43],"an":[44],"navigation":[46],"system.":[47],"Specifically,":[48],"generalized":[50],"map-processing":[51],"method":[52],"first":[54],"presented":[55],"for":[56],"Algorithm":[60],"(HTA),":[61],"which":[62],"can":[63],"extract":[64],"cluster":[66],"important":[67],"map":[68,152],"feature":[69],"information":[70],"preserve":[72],"low":[74],"computational":[75],"complexity":[76],"of":[77,83,91,123,145],"real-time":[78],"processing.":[79],"Then":[80],"set":[82,122],"relative":[84],"rotation":[85],"angles":[86],"corresponding":[88],"spatial":[89,99],"displacements":[90],"robot":[93],"are":[94],"obtained":[95],"by":[96],"constructing":[97],"hough":[98],"energy":[100],"spectrum":[101],"correlation":[102],"functions":[103],"as":[104,118],"global":[105],"local":[107],"2D":[108],"occupancy":[109],"grid":[110],"maps":[111],"(OGMs).":[112],"Finally,":[113],"result":[115],"used":[117],"guiding":[120],"particle":[121],"location":[127],"algorithm.":[128],"In":[129],"simulated":[131],"scene":[132],"real":[135],"scene,":[136],"tested":[140],"several":[141],"times,":[142],"adequacy":[144],"verified,":[149],"with":[153],"good":[154],"self-positioning":[155],"performance":[156],"constructed.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
