{"id":"https://openalex.org/W1992163568","doi":"https://doi.org/10.1109/ecmr.2013.6698850","title":"Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking","display_name":"Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W1992163568","doi":"https://doi.org/10.1109/ecmr.2013.6698850","mag":"1992163568"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-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/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055845355","display_name":"Robert Truax","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Truax","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008502528"],"corresponding_institution_ids":["https://openalex.org/I1343180700","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.9654,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91409649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1883","issue":null,"first_page":"248","last_page":"254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.9220160841941833},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.818219780921936},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6235640048980713},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5765650272369385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5749199390411377},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5463762879371643},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.497773677110672},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4824422001838684},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.48199930787086487},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4815983474254608},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47496411204338074},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.4599328339099884},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3915729522705078},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3522111773490906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2988351583480835},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.292854368686676},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2123575210571289},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.200677752494812},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.17506390810012817},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.1336512267589569}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9220160841941833},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.818219780921936},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6235640048980713},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5765650272369385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5749199390411377},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5463762879371643},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.497773677110672},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4824422001838684},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.48199930787086487},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4815983474254608},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47496411204338074},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.4599328339099884},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3915729522705078},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3522111773490906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2988351583480835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.292854368686676},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2123575210571289},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.200677752494812},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.17506390810012817},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.1336512267589569},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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":2,"locations":[{"id":"doi:10.1109/ecmr.2013.6698850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.464.8326","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.464.8326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.csail.mit.edu/kaess/pub/Huang13ecmr.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1531532259","https://openalex.org/W1965392255","https://openalex.org/W1968315983","https://openalex.org/W2005389775","https://openalex.org/W2055601837","https://openalex.org/W2064169939","https://openalex.org/W2100781213","https://openalex.org/W2117035027","https://openalex.org/W2121990344","https://openalex.org/W2124313187","https://openalex.org/W2135492382","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2798909945","https://openalex.org/W3146325346"],"related_works":["https://openalex.org/W2390558238","https://openalex.org/W4206622494","https://openalex.org/W2099544223","https://openalex.org/W2368128009","https://openalex.org/W2011604740","https://openalex.org/W3086876622","https://openalex.org/W2350305363","https://openalex.org/W2917624112","https://openalex.org/W2370718670","https://openalex.org/W2100250268"],"abstract_inverted_index":{"In":[0,70],"this":[1,111],"paper,":[2],"we":[3,149],"study":[4],"the":[5,51,63,74,79,83,95,100,115,118,122,128,134,140,151,156,161],"problem":[6],"of":[7,17,82,97,107,142,146],"cooperative":[8],"localization":[9],"and":[10,31,38,54,91],"target":[11],"tracking":[12],"(CLATT),":[13],"i.e.,":[14],"a":[15,33,86,105],"team":[16],"mobile":[18],"robots":[19],"use":[20],"their":[21],"onboard":[22],"sensors'":[23],"measurements":[24],"to":[25],"cooperatively":[26],"track":[27],"multiple":[28],"moving":[29],"targets,":[30],"propose":[32],"novel":[34],"unscented":[35,52,64,129,158],"incremental":[36],"smoothing":[37],"mapping":[39],"(U-iSAM)":[40],"approach.":[41],"The":[42,164],"proposed":[43,165],"method":[44],"attains":[45],"reduced":[46],"linearization":[47],"errors":[48],"by":[49,58,155],"using":[50],"transformation":[53,65,159],"correct":[55,137],"observability":[56,60,80,138],"properties":[57,81],"imposing":[59],"constraints":[61],"on":[62],"when":[66,117],"computing":[67],"measurement":[68,152],"Jacobians.":[69],"particular,":[71],"we,":[72],"for":[73],"first":[75],"time":[76],"ever,":[77],"analyze":[78],"batch":[84],"maximum":[85],"posteriori":[87],"(MAP)-based":[88],"CLATT":[89],"system,":[90],"show":[92],"that":[93,133],"in":[94],"case":[96,116],"no":[98],"prior,":[99],"Hessian":[101,144],"(information)":[102],"matrix":[103],"has":[104],"nullspace":[106,141],"dimension":[108,147],"three.":[109],"However,":[110],"may":[112],"not":[113],"be":[114],"Jacobians":[119,153],"(and":[120],"thus":[121],"Hessian)":[123],"are":[124],"computed":[125,154],"numerically":[126],"through":[127,169],"transformation.":[130],"To":[131],"ensure":[132],"U-iSAM":[135],"possesses":[136],"(i.e.,":[139],"its":[143],"is":[145,167],"three),":[148],"project":[150],"standard":[157],"onto":[160],"observable":[162],"subspace.":[163],"algorithm":[166],"validated":[168],"extensive":[170],"Monte-Carlo":[171],"simulations.":[172]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
