{"id":"https://openalex.org/W2069811779","doi":"https://doi.org/10.1109/urai.2014.7057516","title":"Analysis of the reference coordinate system used in the EKF-based SLAM","display_name":"Analysis of the reference coordinate system used in the EKF-based SLAM","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2069811779","doi":"https://doi.org/10.1109/urai.2014.7057516","mag":"2069811779"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2014.7057516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5042161539","display_name":"Keonyong Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keonyong Lee","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Korea","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111160373","display_name":"Soohyun Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soo-hyun Ryu","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Korea","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080273805","display_name":"Jaehyeon Kang","orcid":"https://orcid.org/0000-0001-9913-644X"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehyeon Kang","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Korea","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047155241","display_name":"Hyunga Choi","orcid":"https://orcid.org/0000-0002-2643-2296"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunga Choi","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Korea","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048349794","display_name":"Changhyun Jun","orcid":"https://orcid.org/0000-0002-9767-9923"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ChangHyun Jun","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Korea","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035603382","display_name":"Nakju Lett Doh","orcid":"https://orcid.org/0000-0002-7821-9809"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Nakju Lett Don","raw_affiliation_strings":["Korea University, Seongbuk-gu, Seoul, KR","School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea University, Seongbuk-gu, Seoul, KR","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul 136-713,#N#Korea#N#","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"33","last_page":"38"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.9221086502075195},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.7886202335357666},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6688597202301025},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5793002247810364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5493714809417725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35141390562057495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3396492004394531},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32347238063812256},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.22460341453552246},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19886046648025513},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0768786370754242}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.9221086502075195},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.7886202335357666},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6688597202301025},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5793002247810364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5493714809417725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35141390562057495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3396492004394531},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32347238063812256},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.22460341453552246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19886046648025513},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0768786370754242},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2014.7057516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Responsible consumption and production","id":"https://metadata.un.org/sdg/12","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2027055074","https://openalex.org/W2091307069","https://openalex.org/W2107402720","https://openalex.org/W2111295154","https://openalex.org/W2126118824","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2148228392","https://openalex.org/W2154202063","https://openalex.org/W2165468899","https://openalex.org/W2168210109","https://openalex.org/W2343935565","https://openalex.org/W4249074720","https://openalex.org/W6682056075"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W1541079531","https://openalex.org/W2122489470","https://openalex.org/W2034836143","https://openalex.org/W2086059115","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W2583542422"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,19,62],"analyze":[4],"the":[5,8,21,25,32,36,41,47],"differences":[6],"in":[7,24,35,70],"EKF-SLAM":[9,58,71],"frameworks":[10],"that":[11,64],"are":[12],"constructed":[13],"using":[14],"different":[15],"coordinate":[16,27,38,43],"system.":[17,39],"First,":[18],"derive":[20],"EKF":[22,33],"equations":[23,34,48],"world":[26],"system":[28,44],"through":[29],"modification":[30],"of":[31],"robot":[37],"When":[40],"reference":[42],"is":[45],"changed,":[46],"change":[49],"due":[50],"to":[51],"its":[52],"nonlinear":[53],"behavior.":[54],"We":[55],"identify":[56],"four":[57],"frameworks,":[59],"and":[60,74],"then":[61],"demonstrate":[63],"any":[65],"framework":[66],"can":[67],"be":[68],"used":[69],"by":[72],"simulation":[73],"real-life":[75],"experiments.":[76]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}