{"id":"https://openalex.org/W2048728776","doi":"https://doi.org/10.1177/0278364902021010889","title":"Mapping Partially Observable Features from Multiple Uncertain Vantage Points","display_name":"Mapping Partially Observable Features from Multiple Uncertain Vantage Points","publication_year":2002,"publication_date":"2002-10-01","ids":{"openalex":"https://openalex.org/W2048728776","doi":"https://doi.org/10.1177/0278364902021010889","mag":"2048728776"},"language":"en","primary_location":{"id":"doi:10.1177/0278364902021010889","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364902021010889","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["MIT Department of Ocean Engineering Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027894072","display_name":"Richard J. Rikoski","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richard J. Rikoski","raw_affiliation_strings":["MIT Department of Ocean Engineering Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055299977","display_name":"Paul Newman","orcid":"https://orcid.org/0000-0001-6562-8454"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paul M. Newman","raw_affiliation_strings":["MIT Department of Ocean Engineering Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036408715","display_name":"Michael Bosse","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Bosse","raw_affiliation_strings":["MIT Department of Ocean Engineering Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I4210110987"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027894072","https://openalex.org/A5036408715","https://openalex.org/A5055299977","https://openalex.org/A5110293164"],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":170.4212,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.99940371,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"10-11","first_page":"943","last_page":"975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9990000128746033,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9965999722480774,"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/initialization","display_name":"Initialization","score":0.7943195104598999},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.709540069103241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6374406218528748},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6066372394561768},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.586673378944397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5634649991989136},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5471906661987305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.544988214969635},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5441190004348755},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5245145559310913},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5198579430580139},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48525571823120117},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.46710577607154846},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.455777645111084},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23086658120155334}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7943195104598999},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.709540069103241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6374406218528748},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6066372394561768},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.586673378944397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5634649991989136},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5471906661987305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.544988214969635},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5441190004348755},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5245145559310913},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5198579430580139},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48525571823120117},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.46710577607154846},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.455777645111084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23086658120155334},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364902021010889","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364902021010889","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.2340","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.2340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://groups.csail.mit.edu/marine/pub/Leonard02ijrr.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.69.7970","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.69.7970","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://oe.mit.edu/~jleonard/pubs/leonard_etal_ijrr_w_ransac_result.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321390","display_name":"Fonds De La Recherche Scientifique - FNRS","ror":"https://ror.org/03q83t159"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W159489076","https://openalex.org/W1483307070","https://openalex.org/W1488766761","https://openalex.org/W1492364811","https://openalex.org/W1511332864","https://openalex.org/W1513117905","https://openalex.org/W1519908330","https://openalex.org/W1523064520","https://openalex.org/W1544153300","https://openalex.org/W1554266779","https://openalex.org/W1602581544","https://openalex.org/W1606157100","https://openalex.org/W1665207485","https://openalex.org/W1712194169","https://openalex.org/W1888912845","https://openalex.org/W1891947214","https://openalex.org/W1906964169","https://openalex.org/W1938310175","https://openalex.org/W1984698342","https://openalex.org/W1992989752","https://openalex.org/W2007635681","https://openalex.org/W2013097588","https://openalex.org/W2016996666","https://openalex.org/W2026805101","https://openalex.org/W2028310195","https://openalex.org/W2033013708","https://openalex.org/W2033819227","https://openalex.org/W2043632451","https://openalex.org/W2079007559","https://openalex.org/W2079034501","https://openalex.org/W2085261163","https://openalex.org/W2087563199","https://openalex.org/W2089373496","https://openalex.org/W2095010934","https://openalex.org/W2098324167","https://openalex.org/W2103497972","https://openalex.org/W2107402720","https://openalex.org/W2107859853","https://openalex.org/W2109448614","https://openalex.org/W2109513571","https://openalex.org/W2113252825","https://openalex.org/W2117354270","https://openalex.org/W2118113834","https://openalex.org/W2121990344","https://openalex.org/W2124313187","https://openalex.org/W2127923214","https://openalex.org/W2128990851","https://openalex.org/W2129115684","https://openalex.org/W2129744044","https://openalex.org/W2133048394","https://openalex.org/W2134928731","https://openalex.org/W2142362566","https://openalex.org/W2143864104","https://openalex.org/W2147948210","https://openalex.org/W2152432805","https://openalex.org/W2159477781","https://openalex.org/W2161808137","https://openalex.org/W2163963834","https://openalex.org/W2166493128","https://openalex.org/W2168210109","https://openalex.org/W2177031017","https://openalex.org/W2187029780","https://openalex.org/W2242338188","https://openalex.org/W2293807537","https://openalex.org/W2571050459","https://openalex.org/W2740373864","https://openalex.org/W3011275301","https://openalex.org/W3187867541","https://openalex.org/W4239951935","https://openalex.org/W4255438484","https://openalex.org/W4285719527","https://openalex.org/W6680075030"],"related_works":["https://openalex.org/W2094872030","https://openalex.org/W2005661815","https://openalex.org/W2146757636","https://openalex.org/W2099272513","https://openalex.org/W2991205432","https://openalex.org/W2047788632","https://openalex.org/W2163622079","https://openalex.org/W2123436641","https://openalex.org/W2393324510","https://openalex.org/W3002248669"],"abstract_inverted_index":{"In":[0,79],"this":[1,80],"paper":[2],"we":[3,82],"present":[4],"a":[5,35,40,45,74,84,166,173],"technique":[6],"for":[7,87],"mapping":[8,21],"partially":[9],"observable":[10],"features":[11,130],"from":[12,30,133,154,165],"multiple":[13,134,155],"uncertain":[14],"vantage":[15,156],"points.":[16,157],"The":[17,53,97,158],"problem":[18],"of":[19,42,47,65,68,76,111,128,151],"concurrent":[20],"and":[22,116,141,169,186],"localization":[23],"(CML)":[24],"is":[25,55,99,160],"stated":[26],"as":[27,92,94],"follows.":[28],"Starting":[29],"an":[31,63],"initial":[32],"known":[33],"position,":[34],"mobile":[36,176],"robot":[37,70],"travels":[38],"through":[39],"sequence":[41],"positions,":[43],"obtaining":[44],"set":[46],"sensor":[48,59],"measurements":[49],"at":[50],"each":[51],"position.":[52],"goal":[54],"to":[56,61,101,138,181],"process":[57],"the":[58,66,69,77,107,112,125,139,142,179],"data":[60,132,152,164],"produce":[62],"estimate":[64],"trajectory":[67,144],"while":[71],"concurrently":[72],"building":[73],"map":[75,129,140],"environment.":[78],"paper,":[81],"describe":[83],"generalized":[85],"framework":[86],"CML":[88,183],"that":[89],"incorporates":[90],"temporal":[91],"well":[93],"spatial":[95],"correlations.":[96],"representation":[98],"expanded":[100],"incorporate":[102],"past":[103],"vehicle":[104,118,143],"positions":[105],"in":[106,149],"state":[108],"vector.":[109],"Estimates":[110],"correlations":[113],"between":[114],"current":[115],"previous":[117],"states":[119],"are":[120],"explicitly":[121],"maintained.":[122],"This":[123],"enables":[124],"consistent":[126],"initialization":[127],"using":[131],"time":[135],"steps.":[136],"Updates":[137],"can":[145],"also":[146],"be":[147],"performed":[148],"batches":[150],"acquired":[153],"method":[159],"illustrated":[161],"with":[162,172,184],"sonar":[163],"testing":[167],"tank":[168],"via":[170],"experiments":[171],"B21":[174],"land":[175],"robot,":[177],"demonstrating":[178],"ability":[180],"perform":[182],"sparse":[185],"ambiguous":[187],"data.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
