{"id":"https://openalex.org/W2138784238","doi":"https://doi.org/10.1177/0278364906075170","title":"3D Position Tracking in Challenging Terrain","display_name":"3D Position Tracking in Challenging Terrain","publication_year":2007,"publication_date":"2007-01-24","ids":{"openalex":"https://openalex.org/W2138784238","doi":"https://doi.org/10.1177/0278364906075170","mag":"2138784238"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906075170","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906075170","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/A5069712520","display_name":"Pierre Lamon","orcid":null},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Pierre Lamon","raw_affiliation_strings":["Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH","institution_ids":["https://openalex.org/I2799323385"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH","institution_ids":["https://openalex.org/I2799323385"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069712520","https://openalex.org/A5083003222"],"corresponding_institution_ids":["https://openalex.org/I2799323385"],"apc_list":null,"apc_paid":null,"fwci":2.9607,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.91841949,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"2","first_page":"167","last_page":"186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9948999881744385,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/odometry","display_name":"Odometry","score":0.7463555335998535},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6957802772521973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6519224643707275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6347982883453369},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6333138942718506},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5868759751319885},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5237767100334167},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5045198202133179},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.47043439745903015},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.46782273054122925},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44458314776420593},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41271114349365234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3887605667114258},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33118736743927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2859190106391907},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09062895178794861}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7463555335998535},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6957802772521973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6519224643707275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6347982883453369},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6333138942718506},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5868759751319885},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5237767100334167},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5045198202133179},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.47043439745903015},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.46782273054122925},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44458314776420593},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41271114349365234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3887605667114258},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33118736743927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2859190106391907},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09062895178794861},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364906075170","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906075170","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/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W120192385","https://openalex.org/W590603423","https://openalex.org/W1490092700","https://openalex.org/W1531122638","https://openalex.org/W1566405224","https://openalex.org/W1570240438","https://openalex.org/W1600519251","https://openalex.org/W2029569297","https://openalex.org/W2066545964","https://openalex.org/W2083248537","https://openalex.org/W2097838739","https://openalex.org/W2100406904","https://openalex.org/W2102145772","https://openalex.org/W2102608217","https://openalex.org/W2110491778","https://openalex.org/W2111308925","https://openalex.org/W2115075990","https://openalex.org/W2116764847","https://openalex.org/W2117229402","https://openalex.org/W2120388943","https://openalex.org/W2127447330","https://openalex.org/W2140195211","https://openalex.org/W2148164661","https://openalex.org/W2154422144","https://openalex.org/W2157568568","https://openalex.org/W2159756179","https://openalex.org/W2160626949","https://openalex.org/W2164148538","https://openalex.org/W2166380040","https://openalex.org/W2316929567","https://openalex.org/W2515293759","https://openalex.org/W2558743517","https://openalex.org/W2733855057","https://openalex.org/W3150565301","https://openalex.org/W3150997492","https://openalex.org/W3154408391","https://openalex.org/W4210700398","https://openalex.org/W4240882139","https://openalex.org/W4241307704"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"The":[0,169,200],"intent":[1],"of":[2,11,32,54,66,98,135,152,180,214],"this":[3,76,94,138],"paper":[4],"is":[5,35,44,90,127,198],"to":[6,37,49,63,71,103,177,208],"demonstrate":[7,203],"how":[8,204],"the":[9,30,40,46,52,61,67,96,105,120,133,136,144,150,153,157,210,215],"accuracy":[10,151,211],"3D":[12,115,216],"position":[13,106,154,217],"tracking":[14,155],"can":[15,174],"be":[16,175],"improved":[17],"by":[18],"considering":[19],"rover":[20],"locomotion":[21,57],"in":[22,108],"rough":[23,109],"terrain":[24],"as":[25],"a":[26,78,161],"holistic":[27],"problem.":[28],"Although":[29],"selection":[31],"good":[33],"sensors":[34,102,126,190],"crucial":[36],"accurately":[38],"track":[39],"rover's":[41,158],"position,":[42],"it":[43,130],"not":[45],"only":[47],"aspect":[48],"consider.":[50],"Indeed,":[51],"use":[53,97],"an":[55],"unadapted":[56],"concept":[58],"severely":[59],"affects":[60],"signal":[62],"noise":[64],"ratio":[65],"sensors,":[68],"which":[69],"leads":[70],"poor":[72],"motion":[73,83,116,193],"estimates.":[74],"In":[75,92],"work,":[77],"mechanical":[79],"structure":[80],"allowing":[81],"smooth":[82],"across":[84],"obstacles":[85],"with":[86],"limited":[87],"wheel":[88,121,164],"slip":[89,165],"used.":[91],"particular,":[93],"enables":[95],"odometry":[99],"and":[100,123,156,173,191,212],"inertial":[101,189],"improve":[104,149],"estimation":[107,194],"terrain.":[110],"A":[111],"method":[112,139],"for":[113,132],"computing":[114],"increments":[117],"based":[118,195],"on":[119,196],"encoders":[122],"chassis":[124],"state":[125],"developed.":[128,168],"Because":[129],"accounts":[131],"kinematics":[134],"rover,":[137],"provides":[140],"better":[141],"results":[142,202],"than":[143],"standard":[145],"approach.":[146],"To":[147],"further":[148],"climbing":[159],"performance,":[160],"controller":[162],"minimizing":[163],"has":[166],"been":[167],"algorithm":[170],"runs":[171],"online":[172],"adapted":[176],"any":[178],"kind":[179],"passive":[181],"wheeled":[182],"rover.":[183],"Finally,":[184],"sensor":[185,206],"fusion":[186],"using":[187],"3D-Odometry,":[188],"visual":[192],"stereovision":[197],"presented.":[199],"experimental":[201],"each":[205],"contributes":[207],"increase":[209],"robustness":[213],"estimation.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
