{"id":"https://openalex.org/W2063187609","doi":"https://doi.org/10.1177/0278364905051774","title":"Efficient Information-based Visual Robotic Mapping in Unstructured Environments","display_name":"Efficient Information-based Visual Robotic Mapping in Unstructured Environments","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2063187609","doi":"https://doi.org/10.1177/0278364905051774","mag":"2063187609"},"language":"en","primary_location":{"id":"doi:10.1177/0278364905051774","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905051774","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/A5026863783","display_name":"Vivek A. Sujan","orcid":"https://orcid.org/0000-0002-6988-2342"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vivek A. Sujan","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA 02139, USA,","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA 02139, USA,","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA,","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084745304","display_name":"Steven Dubowsky","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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Dubowsky","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA 02139, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026863783"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":206.7379,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99944315,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"24","issue":"4","first_page":"275","last_page":"293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9962999820709229,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.986299991607666,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6907927393913269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6508557200431824},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5140413045883179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5079701542854309},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.490492045879364},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4596305787563324},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4514341950416565},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.44977542757987976},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.43404287099838257},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3765183389186859},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3283567428588867}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6907927393913269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6508557200431824},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5140413045883179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5079701542854309},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.490492045879364},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4596305787563324},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4514341950416565},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.44977542757987976},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.43404287099838257},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3765183389186859},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3283567428588867},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364905051774","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905051774","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W304861154","https://openalex.org/W1591272296","https://openalex.org/W1600739471","https://openalex.org/W1644054796","https://openalex.org/W1760322595","https://openalex.org/W1921658584","https://openalex.org/W1945042312","https://openalex.org/W1966213627","https://openalex.org/W1978289112","https://openalex.org/W1990012555","https://openalex.org/W1993191078","https://openalex.org/W1995875735","https://openalex.org/W2008056024","https://openalex.org/W2089337412","https://openalex.org/W2103184583","https://openalex.org/W2109167042","https://openalex.org/W2110792930","https://openalex.org/W2112423861","https://openalex.org/W2114219315","https://openalex.org/W2115731779","https://openalex.org/W2116716918","https://openalex.org/W2118429180","https://openalex.org/W2121272499","https://openalex.org/W2129716255","https://openalex.org/W2139594933","https://openalex.org/W2142362566","https://openalex.org/W2145727022","https://openalex.org/W2150076544","https://openalex.org/W2153278632","https://openalex.org/W2154342556","https://openalex.org/W2166471602","https://openalex.org/W2197429696","https://openalex.org/W2491270135","https://openalex.org/W2535631258","https://openalex.org/W3216328957","https://openalex.org/W6640012874"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179","https://openalex.org/W2005337052","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"In":[0,20],"field":[1],"environments":[2],"it":[3,229],"is":[4,65,86,104,138,180,184,230,241,250,287],"often":[5],"not":[6,242],"possible":[7],"to":[8,27,67,87,93,106,140,167,192,232,291],"provide":[9],"robot":[10,46,199,233,262],"teams":[11],"with":[12],"detailed":[13,95],"a":[14,29,69,142,161],"priori":[15],"environment":[16,76,113,170,177,197,217,226,237,265],"and":[17,48,62,96,126,208,214,268,297,302],"task":[18],"models.":[19],"such":[21],"unstructured":[22,292],"environments,":[23,293],"robots":[24,79],"will":[25],"need":[26],"create":[28],"dimensionally":[30],"accurate":[31,215],"three-dimensional":[32],"geometric":[33,108],"model":[34,166,238,266],"of":[35,74,99,111,129,149,189,196,224,276,307],"its":[36,112],"surroundings":[37],"by":[38,205,282],"performing":[39],"appropriate":[40],"sensor":[41,60,63,295],"actions.":[42],"However,":[43],"uncertainties":[44],"in":[45,186,252],"locations":[47],"sensing":[49,198,210,260],"limitations/occlusions":[50],"make":[51],"this":[52,155,308],"difficult.":[53],"A":[54],"new":[55,89],"algorithm,":[56],"based":[57,118,136],"on":[58,119,244],"iterative":[59],"planning":[61],"redundancy,":[64],"proposed":[66],"build":[68],"geometrically":[70],"consistent":[71],"dimensional":[72],"map":[73],"the":[75,100,124,130,150,168,176,187,194,225,236,283,305],"for":[77,212,259,274],"mobile":[78],"that":[80,91],"have":[81],"articulated":[82],"sensors.":[83],"The":[84,102,172,182,219],"aim":[85],"acquire":[88],"information":[90,121,134,190],"leads":[92],"more":[94],"complete":[97],"knowledge":[98,109],"environment.":[101,151],"robot(s)":[103],"controlled":[105],"maximize":[107],"gained":[110],"using":[114,160],"an":[115,133,253],"evaluation":[116],"function":[117],"Shannon\u2019s":[120],"theory.":[122],"Using":[123],"measured":[125,169],"Markovian":[127],"predictions":[128],"unknown":[131],"environment,":[132],"theory":[135,191],"metric":[137],"maximized":[139],"determine":[141],"robotic":[143],"agent\u2019s":[144],"next":[145],"best":[146],"view":[147],"(NBV)":[148],"Data":[152],"collected":[153],"at":[154],"NBV":[156],"pose":[157],"are":[158,299],"fused":[159],"Kalman":[162],"filter":[163],"statistical":[164],"uncertainty":[165,267,296],"map.":[171],"process":[173,179],"continues":[174],"until":[175],"mapping":[178],"complete.":[181],"work":[183],"unique":[185],"application":[188],"enhance":[193],"performance":[195],"agents.":[200,284],"It":[201,257,272],"may":[202],"be":[203],"used":[204],"multiple":[206],"distributed":[207],"decentralized":[209],"agents":[211],"efficient":[213],"cooperative":[216],"modeling.":[218],"algorithm":[220,286],"makes":[221],"no":[222],"assumptions":[223],"structure.":[227],"Hence,":[228],"robust":[231],"failure":[234],"since":[235],"being":[239],"built":[240],"dependent":[243],"any":[245],"single":[246],"agent":[247],"frame,":[248],"but":[249],"set":[251],"absolute":[254],"reference":[255],"frame.":[256],"accounts":[258],"uncertainty,":[261,264],"motion":[263],"other":[269],"critical":[270],"parameters.":[271],"allows":[273],"regions":[275],"higher":[277],"interest":[278],"receiving":[279],"greater":[280],"attention":[281],"This":[285],"particularly":[288],"well":[289],"suited":[290],"where":[294],"occlusions":[298],"significant.":[300],"Simulations":[301],"experiments":[303],"show":[304],"effectiveness":[306],"algorithm.":[309]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
