{"id":"https://openalex.org/W2790754034","doi":"https://doi.org/10.1145/3162957.3162999","title":"Research on slam algorithm of iterated extended Kalman filtering for multi-sensor fusion","display_name":"Research on slam algorithm of iterated extended Kalman filtering for multi-sensor fusion","publication_year":2017,"publication_date":"2017-11-24","ids":{"openalex":"https://openalex.org/W2790754034","doi":"https://doi.org/10.1145/3162957.3162999","mag":"2790754034"},"language":"en","primary_location":{"id":"doi:10.1145/3162957.3162999","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3162957.3162999","pdf_url":null,"source":{"id":"https://openalex.org/S4306523808","display_name":"Proceedings of the 3rd International Conference on Communication and Information Processing","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 3rd International Conference on Communication and Information Processing","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/A5101072077","display_name":"Shi Han-hai","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi Han-hai","raw_affiliation_strings":["Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102293516","display_name":"Fajiang He","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Fa-jiang","raw_affiliation_strings":["Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017230206","display_name":"Dang Shu-wen","orcid":"https://orcid.org/0000-0002-5866-6409"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dang Shu-wen","raw_affiliation_strings":["Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066249451","display_name":"Kangle Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Kang-le","raw_affiliation_strings":["Shanghai University of Engineering Science, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.21733582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"242","last_page":"246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9973999857902527,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9961000084877014,"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/kalman-filter","display_name":"Kalman filter","score":0.8535022139549255},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.7021366953849792},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.6581960916519165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6201317310333252},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.606620192527771},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5961909294128418},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5021529197692871},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49205631017684937},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.45871642231941223},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4569966197013855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42710500955581665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22823581099510193},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08599621057510376},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07973125576972961}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8535022139549255},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7021366953849792},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.6581960916519165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6201317310333252},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.606620192527771},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5961909294128418},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5021529197692871},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49205631017684937},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.45871642231941223},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4569966197013855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42710500955581665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22823581099510193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08599621057510376},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07973125576972961},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3162957.3162999","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3162957.3162999","pdf_url":null,"source":{"id":"https://openalex.org/S4306523808","display_name":"Proceedings of the 3rd International Conference on Communication and Information Processing","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 3rd International Conference on Communication and Information Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1985777298","https://openalex.org/W1986143428","https://openalex.org/W2127578024","https://openalex.org/W2146881125","https://openalex.org/W2168934920","https://openalex.org/W2169453019","https://openalex.org/W2547279912","https://openalex.org/W2734803044"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W791889001","https://openalex.org/W2005337052"],"abstract_inverted_index":{"For":[0],"the":[1,4,36,45,48,61,66,71,83,101,103],"problem":[2],"of":[3,6,88,106],"error":[5,68,72,87],"EKF":[7],"in":[8],"linearization,":[9],"an":[10],"iterated":[11],"extended":[12,80],"Kalman":[13,81],"filtering":[14],"algorithm":[15,31],"based":[16],"on":[17],"IMU":[18,40],"and":[19,41,69,90,97,110],"laser":[20,42],"sensor":[21],"for":[22],"environmental":[23],"feature":[24],"matching":[25],"is":[26,32,51,108],"proposed.":[27],"The":[28,56],"K-Nearest":[29],"Neighbor":[30],"applied":[33],"to":[34],"match":[35],"data":[37],"obtained":[38],"by":[39,54,75,94],"sensor.":[43],"In":[44],"measurement":[46],"phase,":[47],"nonlinear":[49,67],"system":[50,107],"linearized":[52],"multiple":[53],"EKF.":[55,118],"simulation":[57],"results":[58],"show":[59],"that":[60],"new":[62],"method":[63],"effectively":[64],"reduces":[65],"inhibits":[70],"accumulation":[73],"caused":[74],"IMU.":[76],"Compared":[77],"with":[78],"traditional":[79,117],"filtering,":[82],"root":[84],"mean":[85],"square":[86],"position":[89],"azimuth":[91],"was":[92],"reduced":[93],"48%,":[95],"16%":[96],"29%,":[98],"respectively.":[99],"As":[100],"result,":[102],"navigation":[104],"accuracy":[105],"improved":[109],"state":[111],"tracking":[112],"performance":[113],"outperforms":[114],"better":[115],"than":[116]},"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"}
