{"id":"https://openalex.org/W2111909940","doi":"https://doi.org/10.1109/robot.2008.4543405","title":"Iterated filters for bearing-only SLAM","display_name":"Iterated filters for bearing-only SLAM","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2111909940","doi":"https://doi.org/10.1109/robot.2008.4543405","mag":"2111909940"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Iterated_Filters_for_Bearing-Only_SLAM/6555239","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065495957","display_name":"Stephen Tully","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Tully","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","Electr. & Comput. Eng. Dept., Carnegie Mellon Univ., Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Electr. & Comput. Eng. Dept., Carnegie Mellon Univ., Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Mechanical Engineering Department, SungKyunKwan University, Suwon, Kyunggi, South Korea","Mechanical Engineering Department at SungKyunKwan University, Suwon, Gyeonggi-do 440-746, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, SungKyunKwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Mechanical Engineering Department at SungKyunKwan University, Suwon, Gyeonggi-do 440-746, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA 15213 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA 15213 USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067202248","display_name":"Howie Choset","orcid":"https://orcid.org/0000-0002-2266-8744"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA 15213 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA 15213 USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":104.9376,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99798578,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1442","last_page":"1448"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8820720911026001},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8111118078231812},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5740671753883362},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.5659646391868591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5579090118408203},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5489788055419922},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.5093568563461304},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5037664771080017},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.501276969909668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44962698221206665},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3254815936088562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2906537652015686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2772015631198883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27220436930656433},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24820253252983093},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13257083296775818}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8820720911026001},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8111118078231812},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5740671753883362},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.5659646391868591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5579090118408203},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5489788055419922},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.5093568563461304},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5037664771080017},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.501276969909668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44962698221206665},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3254815936088562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2906537652015686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2772015631198883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27220436930656433},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24820253252983093},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13257083296775818},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/robot.2008.4543405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/6555239","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/journal_contribution/Iterated_Filters_for_Bearing-Only_SLAM/6555239","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1755","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1755&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.139.4800","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.139.4800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://voronoi.sbp.ri.cmu.edu/papers/icra08_tully.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.571.653","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.571.653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.csd.uoc.gr/~hy475/papers2008/slam9.pdf","raw_type":"text"},{"id":"doi:10.1184/r1/6555239.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6555239.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6555239","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/journal_contribution/Iterated_Filters_for_Bearing-Only_SLAM/6555239","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2111909940.pdf","grobid_xml":"https://content.openalex.org/works/W2111909940.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1643815198","https://openalex.org/W1966871700","https://openalex.org/W2016456873","https://openalex.org/W2070898270","https://openalex.org/W2099867508","https://openalex.org/W2107772635","https://openalex.org/W2107859853","https://openalex.org/W2108606600","https://openalex.org/W2113243634","https://openalex.org/W2123892736","https://openalex.org/W2132346219","https://openalex.org/W2165113654","https://openalex.org/W2165468899","https://openalex.org/W2170120409","https://openalex.org/W2170173342","https://openalex.org/W2171778162","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W1528321154","https://openalex.org/W2110359509","https://openalex.org/W2732221248","https://openalex.org/W791889001","https://openalex.org/W2025083058","https://openalex.org/W164235053"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,9,14,35,46,67,70,79,95,115,132,141,146],"importance":[4],"of":[5,16,69,114,134],"iteration":[6],"when":[7],"performing":[8],"measurement":[10,48,148],"update":[11,49,97],"step":[12],"for":[13,43,84,124],"problem":[15,102],"bearing-only":[17,85,96,126],"SLAM.":[18],"We":[19,65,90],"focus":[20],"on":[21],"an":[22,105,135],"undelayed":[23],"approach":[24,107],"that":[25,77,93],"initializes":[26],"a":[27,55,99,125],"landmark":[28],"after":[29],"only":[30],"one":[31],"bearing":[32],"measurement.":[33],"Traditionally,":[34],"extended":[36],"Kalman":[37,116,137],"filter":[38,117,138],"(EKF)":[39],"has":[40],"been":[41],"used":[42],"SLAM,":[44],"but":[45],"EKF":[47,71,147],"rule":[50],"can":[51,87],"often":[52],"lead":[53],"to":[54,60,139,157],"divergent":[56],"state":[57,118],"estimate":[58],"due":[59],"its":[61],"inconsistency":[62],"in":[63,72],"linearization.":[64],"discuss":[66],"flaws":[68],"this":[73],"paper,":[74],"and":[75,119],"show":[76,92],"even":[78],"well":[80],"established":[81],"inverse-depth":[82],"parametrization":[83],"SLAM":[86,122],"be":[88],"affected.":[89],"then":[91],"representing":[94],"as":[98,109],"numerical":[100],"optimization":[101],"(solved":[103],"with":[104,145],"iterative":[106],"such":[108],"Gauss-Newton":[110],"minimization)":[111],"prevents":[112],"divergence":[113],"produces":[120],"accurate":[121],"results":[123],"sensor.":[127],"More":[128],"specifically,":[129],"we":[130],"propose":[131],"use":[133],"iterated":[136],"resolve":[140],"issues":[142],"normally":[143],"associated":[144],"update.":[149],"Two":[150],"outdoor":[151],"mobile":[152],"robot":[153],"experiments":[154],"are":[155],"discussed":[156],"compare":[158],"algorithm":[159],"performance.":[160]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}