{"id":"https://openalex.org/W4366381492","doi":"https://doi.org/10.1145/3584376.3584381","title":"Application of a modified IEKF algorithm in mobile robot localization","display_name":"Application of a modified IEKF algorithm in mobile robot localization","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4366381492","doi":"https://doi.org/10.1145/3584376.3584381"},"language":"en","primary_location":{"id":"doi:10.1145/3584376.3584381","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","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/A5076495859","display_name":"Chengwen Hu","orcid":"https://orcid.org/0000-0002-3431-947X"},"institutions":[{"id":"https://openalex.org/I75867142","display_name":"Xiamen University of Technology","ror":"https://ror.org/01285e189","country_code":"CN","type":"education","lineage":["https://openalex.org/I75867142"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chengwen Hu","raw_affiliation_strings":["School of Optoelectronics and Communication Engineering, Xiamen University of Technology, China"],"affiliations":[{"raw_affiliation_string":"School of Optoelectronics and Communication Engineering, Xiamen University of Technology, China","institution_ids":["https://openalex.org/I75867142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008279418","display_name":"Jinwang Yi","orcid":"https://orcid.org/0000-0003-2219-2210"},"institutions":[{"id":"https://openalex.org/I75867142","display_name":"Xiamen University of Technology","ror":"https://ror.org/01285e189","country_code":"CN","type":"education","lineage":["https://openalex.org/I75867142"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinwang Yi","raw_affiliation_strings":["School of Optoelectronics and Communication Engineering, Xiamen University of Technology, China"],"affiliations":[{"raw_affiliation_string":"School of Optoelectronics and Communication Engineering, Xiamen University of Technology, China","institution_ids":["https://openalex.org/I75867142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076495859"],"corresponding_institution_ids":["https://openalex.org/I75867142"],"apc_list":null,"apc_paid":null,"fwci":1.7209,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90424365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"25","last_page":"30"},"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":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.77675461769104},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6991585493087769},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5871890187263489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5188940167427063},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.506801187992096},{"id":"https://openalex.org/keywords/newtons-method","display_name":"Newton's method","score":0.4476175606250763},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4329180121421814},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42901164293289185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.404460608959198},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39140480756759644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2222760021686554}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.77675461769104},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6991585493087769},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5871890187263489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188940167427063},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.506801187992096},{"id":"https://openalex.org/C85189116","wikidata":"https://www.wikidata.org/wiki/Q374195","display_name":"Newton's method","level":3,"score":0.4476175606250763},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4329180121421814},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42901164293289185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.404460608959198},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39140480756759644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2222760021686554},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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:10.1145/3584376.3584381","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","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":9,"referenced_works":["https://openalex.org/W2016456873","https://openalex.org/W2068484625","https://openalex.org/W2098613108","https://openalex.org/W2112050550","https://openalex.org/W2118428504","https://openalex.org/W2123487311","https://openalex.org/W2127426261","https://openalex.org/W2336416123","https://openalex.org/W2593973555"],"related_works":["https://openalex.org/W2066087344","https://openalex.org/W3035498256","https://openalex.org/W4296473512","https://openalex.org/W2042128913","https://openalex.org/W2138744638","https://openalex.org/W3011256405","https://openalex.org/W2170068838","https://openalex.org/W2085226904","https://openalex.org/W2127064735","https://openalex.org/W2358623053"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,83,118,122],"improve":[3],"the":[4,12,20,40,46,61,71,77,84,100,103,111,123],"localization":[5,29],"accuracy":[6,115],"of":[7,14,17,48,80,99,113,128],"mobile":[8],"robots":[9],"and":[10,27,54,116],"solve":[11],"problems":[13],"SLAM":[15],"algorithm":[16,37,58,69,109,131],"EKF":[18],"in":[19,86],"strongly":[21],"nonlinear":[22],"system":[23],"with":[24],"increasing":[25],"error":[26],"decreasing":[28],"accuracy,":[30],"this":[31,129],"paper":[32],"proposes":[33],"a":[34,55,90,96],"modified":[35,56,108,130],"IEKF":[36,51,57],"based":[38,59],"on":[39,60],"combined":[41,62],"Newton":[42,63],"iteration":[43,64,73,82],"method":[44,65],"from":[45],"perspective":[47],"Gaussian-Newton":[49],"iteration.":[50],"is":[52,66,132],"optimized":[53],"proposed.":[67],"The":[68,107,126],"determines":[70],"new":[72],"value":[74],"by":[75,95],"judging":[76],"approximation":[78],"degree":[79],"each":[81],"state":[85,101],"real":[87],"time,":[88],"using":[89,102],"weighted":[91],"average":[92],"method,":[93],"followed":[94],"quantitative":[97],"update":[98],"Kalman":[104],"filter":[105],"framework.":[106],"has":[110],"advantages":[112],"higher":[114],"insensitivity":[117],"initial":[119],"values":[120],"compared":[121],"traditional":[124],"IEKF.":[125],"effectiveness":[127],"verified":[133],"through":[134],"experimental":[135],"simulations.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
