{"id":"https://openalex.org/W2001164479","doi":"https://doi.org/10.1177/0278364906072512","title":"Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters","display_name":"Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters","publication_year":2006,"publication_date":"2006-11-13","ids":{"openalex":"https://openalex.org/W2001164479","doi":"https://doi.org/10.1177/0278364906072512","mag":"2001164479"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906072512","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906072512","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2027.42/86056","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering University of                         Michigan Ann Arbor, MI 48109 USA,","[Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI 48109 USA.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering University of                         Michigan Ann Arbor, MI 48109 USA,","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI 48109 USA.]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanumant Singh","raw_affiliation_strings":["Department of Applied Ocean Physics and Engineering, Woods Hole                         Oceanographic Institution, Woods Hole, MA 02543 USA,","Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Ocean Physics and Engineering, Woods Hole                         Oceanographic Institution, Woods Hole, MA 02543 USA,","institution_ids":["https://openalex.org/I66958751"]},{"raw_affiliation_string":"Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","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":"John J. Leonard","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/A5103153703","display_name":"Matthew R. Walter","orcid":"https://orcid.org/0000-0003-1425-6050"},"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":"Matthew R. Walter","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":4,"corresponding_author_ids":["https://openalex.org/A5020864898"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":345.0321,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.99976258,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"25","issue":"12","first_page":"1223","last_page":"1242"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9979000091552734,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7536501288414001},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.7347288727760315},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6733341217041016},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6389389038085938},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.594104528427124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5894108414649963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5582249164581299},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5307288765907288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4833919107913971},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44598451256752014},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.36910831928253174},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23351871967315674},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2147211730480194},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07857552170753479}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7536501288414001},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.7347288727760315},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6733341217041016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6389389038085938},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.594104528427124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5894108414649963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5582249164581299},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5307288765907288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4833919107913971},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44598451256752014},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.36910831928253174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23351871967315674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2147211730480194},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07857552170753479}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364906072512","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906072512","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:deepblue.lib.umich.edu:2027.42/86056","is_oa":true,"landing_page_url":"http://hdl.handle.net/2027.42/86056>","pdf_url":"https://hdl.handle.net/2027.42/86056","source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/86056","is_oa":true,"landing_page_url":"http://hdl.handle.net/2027.42/86056>","pdf_url":"https://hdl.handle.net/2027.42/86056","source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308861","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2001164479.pdf"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W126946642","https://openalex.org/W142685375","https://openalex.org/W152410664","https://openalex.org/W1494141623","https://openalex.org/W1513793967","https://openalex.org/W1523764397","https://openalex.org/W1531532259","https://openalex.org/W1547125995","https://openalex.org/W1556694669","https://openalex.org/W1558780770","https://openalex.org/W1588460699","https://openalex.org/W1607829695","https://openalex.org/W1650817476","https://openalex.org/W1752024295","https://openalex.org/W1812064485","https://openalex.org/W1870652675","https://openalex.org/W1907066036","https://openalex.org/W1977464512","https://openalex.org/W1980216077","https://openalex.org/W1986298071","https://openalex.org/W2033819227","https://openalex.org/W2080629029","https://openalex.org/W2098324167","https://openalex.org/W2098841537","https://openalex.org/W2099901716","https://openalex.org/W2101345862","https://openalex.org/W2101914010","https://openalex.org/W2104181141","https://openalex.org/W2107402720","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2116191958","https://openalex.org/W2129249398","https://openalex.org/W2129530697","https://openalex.org/W2141498523","https://openalex.org/W2143864104","https://openalex.org/W2148228392","https://openalex.org/W2151103935","https://openalex.org/W2152422184","https://openalex.org/W2152432805","https://openalex.org/W2155537009","https://openalex.org/W2155714370","https://openalex.org/W2161740811","https://openalex.org/W2163309052","https://openalex.org/W2165584048","https://openalex.org/W2185524340","https://openalex.org/W2296147781","https://openalex.org/W2334553722","https://openalex.org/W2483907169","https://openalex.org/W2498631646","https://openalex.org/W2602753196","https://openalex.org/W2911702929","https://openalex.org/W2990117697","https://openalex.org/W3017354485","https://openalex.org/W3021282624","https://openalex.org/W3143919370","https://openalex.org/W4206841593","https://openalex.org/W4285719527","https://openalex.org/W4301409532"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,37,49,67,102,113],"vision-based,":[4,103],"large-area,":[5],"simultaneous":[6],"localization":[7],"and":[8,43,94],"mapping":[9],"(SLAM)":[10],"algorithm":[11],"that":[12,28],"respects":[13],"the":[14,24,56,75,117,120],"low-overlap":[15],"imagery":[16],"constraints":[17],"typical":[18],"of":[19,58,70,77,106,116,119],"underwater":[20],"vehicles":[21],"while":[22],"exploiting":[23],"inertial":[25],"sensor":[26],"information":[27,51],"is":[29,63,83],"routinely":[30],"available":[31],"on":[32],"such":[33],"platforms.":[34],"We":[35],"present":[36],"novel":[38],"strategy":[39],"for":[40,91,101],"efficiently":[41],"accessing":[42],"maintaining":[44],"consistent":[45,87],"covariance":[46,88],"bounds":[47],"within":[48],"SLAM":[50,108],"filter,":[52],"thereby":[53],"greatly":[54],"increasing":[55],"reliability":[57],"data":[59,95,111],"association.":[60,96],"The":[61,81],"technique":[62],"based":[64],"upon":[65],"solving":[66],"sparse":[68],"system":[69],"linear":[71],"equations":[72],"coupled":[73],"with":[74],"application":[76],"constant-time":[78],"Kalman":[79],"updates.":[80],"method":[82],"shown":[84],"to":[85],"produce":[86],"estimates":[89],"suitable":[90],"robot":[92],"planning":[93],"Real-world":[97],"results":[98],"are":[99],"reported":[100],"six":[104],"degree":[105],"freedom":[107],"implementation":[109],"using":[110],"from":[112],"recent":[114],"survey":[115],"wreck":[118],"RMS":[121],"Titanic.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":7}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}