{"id":"https://openalex.org/W2001496915","doi":"https://doi.org/10.1177/0278364913478672","title":"Gaussian Process Gauss\u2013Newton for non-parametric simultaneous localization and mapping","display_name":"Gaussian Process Gauss\u2013Newton for non-parametric simultaneous localization and mapping","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W2001496915","doi":"https://doi.org/10.1177/0278364913478672","mag":"2001496915"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913478672","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913478672","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/A5013811117","display_name":"Chi Hay Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Chi Hay Tong","raw_affiliation_strings":["Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016331448","display_name":"Paul Furgale","orcid":"https://orcid.org/0000-0002-7367-1046"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paul Furgale","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013811117"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":167.8434,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.99919513,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"5","first_page":"507","last_page":"525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.993399977684021,"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/odometry","display_name":"Odometry","score":0.7085592746734619},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6528784036636353},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5725652575492859},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5423193573951721},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.525842010974884},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5254192352294922},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.5122858285903931},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4788893759250641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4503244459629059},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42706698179244995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42618516087532043},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4126697778701782},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3314947783946991},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07845407724380493}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7085592746734619},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6528784036636353},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5725652575492859},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5423193573951721},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.525842010974884},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5254192352294922},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.5122858285903931},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4788893759250641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4503244459629059},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42706698179244995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42618516087532043},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4126697778701782},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3314947783946991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07845407724380493},{"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364913478672","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913478672","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W177314305","https://openalex.org/W1488180145","https://openalex.org/W1644821870","https://openalex.org/W1746819321","https://openalex.org/W1790231888","https://openalex.org/W1968315983","https://openalex.org/W1969329424","https://openalex.org/W2000668356","https://openalex.org/W2006368361","https://openalex.org/W2007692097","https://openalex.org/W2024697317","https://openalex.org/W2067284330","https://openalex.org/W2078394884","https://openalex.org/W2079495150","https://openalex.org/W2083402998","https://openalex.org/W2098626000","https://openalex.org/W2110484224","https://openalex.org/W2114084853","https://openalex.org/W2122512809","https://openalex.org/W2122823116","https://openalex.org/W2124609748","https://openalex.org/W2124858504","https://openalex.org/W2127600800","https://openalex.org/W2129173607","https://openalex.org/W2129298951","https://openalex.org/W2134469667","https://openalex.org/W2134477639","https://openalex.org/W2137052305","https://openalex.org/W2143013621","https://openalex.org/W2148228392","https://openalex.org/W2152671441","https://openalex.org/W2169779569","https://openalex.org/W2503900448","https://openalex.org/W2602753196","https://openalex.org/W2604799680","https://openalex.org/W2613433911","https://openalex.org/W2648403730","https://openalex.org/W2790374560","https://openalex.org/W3083135905","https://openalex.org/W3145361907","https://openalex.org/W4211049957","https://openalex.org/W4246483956","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2970345194","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"In":[0,45],"this":[1,69],"paper,":[2,70],"we":[3,47,116],"present":[4],"Gaussian":[5,24],"Process":[6],"Gauss\u2013Newton":[7,42,113],"(GPGN),":[8],"an":[9,101],"algorithm":[10],"for":[11],"non-parametric,":[12],"continuous-time,":[13],"nonlinear,":[14],"batch":[15,33,112],"state":[16,55],"estimation.":[17],"This":[18],"work":[19],"adapts":[20],"the":[21,30,41,49,59,73,79,94,109,145],"methods":[22],"of":[23,32,97,131],"process":[25],"(GP)":[26],"regression":[27,81],"to":[28,124,143],"address":[29],"problem":[31,51,96],"simultaneous":[34],"localization":[35],"and":[36,75,88,115],"mapping":[37],"(SLAM)":[38],"by":[39],"using":[40],"optimization":[43],"method.":[44],"particular,":[46],"formulate":[48],"estimation":[50],"with":[52,58,108,127],"a":[53,89,148],"continuous-time":[54],"model,":[56],"along":[57],"more":[60],"conventional":[61],"discrete-time":[62,111],"measurements.":[63],"Two":[64],"derivations":[65],"are":[66,139],"presented":[67],"in":[68],"reflecting":[71],"both":[72],"weight-space":[74],"function-space":[76],"approaches":[77],"from":[78],"GP":[80],"literature.":[82],"Validation":[83],"is":[84,106],"conducted":[85],"through":[86],"simulations":[87],"hardware":[90],"experiment,":[91],"which":[92],"utilizes":[93],"well-understood":[95],"two-dimensional":[98],"SLAM":[99],"as":[100],"illustrative":[102],"example.":[103],"The":[104],"performance":[105],"compared":[107],"traditional":[110],"approach,":[114],"also":[117],"show":[118],"that":[119],"GPGN":[120],"can":[121],"be":[122],"employed":[123],"estimate":[125],"motion":[126],"only":[128],"range/bearing":[129],"measurements":[130,142],"landmarks":[132],"(i.e.":[133],"no":[134],"odometry),":[135],"even":[136],"when":[137],"there":[138],"not":[140],"enough":[141],"constrain":[144],"pose":[146],"at":[147],"given":[149],"timestep.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
