{"id":"https://openalex.org/W2200678396","doi":"https://doi.org/10.1109/urai.2015.7358923","title":"Efficient Graph-SLAM optimization using unit dual-quaternions","display_name":"Efficient Graph-SLAM optimization using unit dual-quaternions","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2200678396","doi":"https://doi.org/10.1109/urai.2015.7358923","mag":"2200678396"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th 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/A5101724793","display_name":"Jonghyuk Kim","orcid":"https://orcid.org/0000-0003-4505-1103"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jonghyuk Kim","raw_affiliation_strings":["College of Engineering and Computer Science Australian National University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Computer Science Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018906724","display_name":"Jiantong Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiantong Cheng","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hyunchul Shim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunchul Shim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.09596708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"24","issue":null,"first_page":"34","last_page":"39"},"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/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"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/dual-quaternion","display_name":"Dual quaternion","score":0.8610673546791077},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.8403949737548828},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.573510468006134},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5346402525901794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5275896191596985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5065027475357056},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5005936622619629},{"id":"https://openalex.org/keywords/dual-graph","display_name":"Dual graph","score":0.4870806038379669},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4541369080543518},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.433931827545166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4206390976905823},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4147988557815552},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4076758027076721},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3919283449649811},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34780120849609375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3054982125759125},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3046953082084656},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18722644448280334},{"id":"https://openalex.org/keywords/planar-graph","display_name":"Planar graph","score":0.0994417667388916}],"concepts":[{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.8610673546791077},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8403949737548828},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.573510468006134},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5346402525901794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5275896191596985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5065027475357056},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5005936622619629},{"id":"https://openalex.org/C169827030","wikidata":"https://www.wikidata.org/wiki/Q2294516","display_name":"Dual graph","level":4,"score":0.4870806038379669},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4541369080543518},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.433931827545166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4206390976905823},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4147988557815552},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4076758027076721},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3919283449649811},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34780120849609375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3054982125759125},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3046953082084656},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18722644448280334},{"id":"https://openalex.org/C101837359","wikidata":"https://www.wikidata.org/wiki/Q547823","display_name":"Planar graph","level":3,"score":0.0994417667388916},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W248267066","https://openalex.org/W1656165940","https://openalex.org/W1760763333","https://openalex.org/W2012031331","https://openalex.org/W2017470165","https://openalex.org/W2021851106","https://openalex.org/W2047537270","https://openalex.org/W2049479307","https://openalex.org/W2064169939","https://openalex.org/W2080823437","https://openalex.org/W2088350304","https://openalex.org/W2107905629","https://openalex.org/W2111096969","https://openalex.org/W2121349631","https://openalex.org/W2130993165","https://openalex.org/W2132070397","https://openalex.org/W2153054365","https://openalex.org/W2155537009","https://openalex.org/W3143919370","https://openalex.org/W6637937093","https://openalex.org/W6656063324","https://openalex.org/W6679385268"],"related_works":["https://openalex.org/W2074615279","https://openalex.org/W2914794850","https://openalex.org/W1964171345","https://openalex.org/W2156842304","https://openalex.org/W2128405419","https://openalex.org/W4220867898","https://openalex.org/W2385234200","https://openalex.org/W2392776018","https://openalex.org/W2908021227","https://openalex.org/W1544024058"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,35,60],"new":[4],"parameterization":[5],"approach":[6,135],"for":[7,56],"the":[8,21,29,33,51,64,97,106,113,117,133,138,143,149],"graph-based":[9],"SLAM":[10,57,99,108],"problem":[11,109],"utilising":[12],"unit":[13,54,73],"dual-quaternion.":[14],"The":[15],"rigid-body":[16],"transformation":[17,37],"typically":[18],"consists":[19],"of":[20,32,53,63],"robot":[22,65,80],"position":[23],"and":[24,26,69,82,116,128],"rotation,":[25,34],"due":[27],"to":[28,119,148],"Lie-group":[30],"nature":[31],"homogeneous":[36,150],"matrix":[38],"has":[39,75,91],"been":[40,76,93],"widely":[41,77],"used":[42,78],"in":[43,79,96],"pose-graph":[44],"optimizations.":[45],"In":[46,101],"this":[47,102],"paper,":[48],"we":[49,104],"investigate":[50],"use":[52],"dual-quaternion":[55,74],"problem,":[58],"providing":[59],"unified":[61],"representation":[62],"poses":[66],"with":[67,110],"computational":[68,139],"storage":[70],"benefits.":[71],"Although":[72],"kinematics":[81],"navigation":[83],"(known":[84],"also":[85],"as":[86],"Michel":[87],"Chasles'":[88],"theorem),":[89],"it":[90],"not":[92],"well":[94],"utilised":[95],"graph":[98,107],"optimization.":[100],"work,":[103],"re-parameterize":[105],"dual-quaternions,":[111],"investigating":[112],"optimization":[114],"performance":[115],"sensitivity":[118],"poor":[120],"initial":[121],"estimates.":[122],"Experimental":[123],"results":[124],"on":[125],"public":[126],"synthetic":[127],"real-world":[129],"datasets":[130],"show":[131],"that":[132],"proposed":[134],"significantly":[136],"reduces":[137],"complexity,":[140],"whilst":[141],"retaining":[142],"similar":[144],"map":[145],"accuracies":[146],"compared":[147],"transform":[151],"matrix-based":[152],"one.":[153]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
