{"id":"https://openalex.org/W1976905874","doi":"https://doi.org/10.1177/0278364914523689","title":"A fast and accurate approximation for planar pose graph optimization","display_name":"A fast and accurate approximation for planar pose graph optimization","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1976905874","doi":"https://doi.org/10.1177/0278364914523689","mag":"1976905874"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914523689","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914523689","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/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062651208","display_name":"Rosario Arag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0001-9458-6257"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I4210099416","display_name":"Laboratoire d'Informatique, de Mod\u00e9lisation et d'Optimisation des Syst\u00e8mes","ror":"https://ror.org/00t3fpp34","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I198244214","https://openalex.org/I198244214","https://openalex.org/I203339264","https://openalex.org/I205703379","https://openalex.org/I3019848993","https://openalex.org/I4210099416","https://openalex.org/I4210123221","https://openalex.org/I4210159245","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rosario Aragues","raw_affiliation_strings":["CNRS, Aubiere, France","Clermont Universit\u00e9, Institut Pascal, Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Aubiere, France","institution_ids":["https://openalex.org/I4210099416","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Clermont Universit\u00e9, Institut Pascal, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620","https://openalex.org/I198244214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038670897","display_name":"Jos\u00e9 A. Castellanos","orcid":"https://orcid.org/0000-0001-5977-8720"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 A. Castellanos","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082857249","display_name":"Basilio Bona","orcid":"https://orcid.org/0000-0002-4924-9144"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Basilio Bona","raw_affiliation_strings":["Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042157108"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":193.0565,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.99945867,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"33","issue":"7","first_page":"965","last_page":"987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9977999925613403,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/maxima-and-minima","display_name":"Maxima and minima","score":0.7379093170166016},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5712565183639526},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5529348254203796},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5520317554473877},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5282843708992004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5215480327606201},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5211977362632751},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.4807422161102295},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44066742062568665},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3689819574356079},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3346601724624634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3247758150100708},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20536714792251587},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09743127226829529}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7379093170166016},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5712565183639526},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5529348254203796},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5520317554473877},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5282843708992004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5215480327606201},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5211977362632751},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.4807422161102295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44066742062568665},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3689819574356079},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3346601724624634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3247758150100708},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20536714792251587},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09743127226829529},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914523689","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914523689","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":[{"id":"https://metadata.un.org/sdg/11","score":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W21877","https://openalex.org/W142685375","https://openalex.org/W186433452","https://openalex.org/W391578156","https://openalex.org/W629758729","https://openalex.org/W1161662587","https://openalex.org/W1487444668","https://openalex.org/W1490092700","https://openalex.org/W1507322379","https://openalex.org/W1558273801","https://openalex.org/W1656165940","https://openalex.org/W1756216659","https://openalex.org/W1966173730","https://openalex.org/W1968315983","https://openalex.org/W1990884907","https://openalex.org/W1991172434","https://openalex.org/W1994292819","https://openalex.org/W1999399477","https://openalex.org/W2005389775","https://openalex.org/W2013472030","https://openalex.org/W2024908906","https://openalex.org/W2029780423","https://openalex.org/W2033819227","https://openalex.org/W2035491427","https://openalex.org/W2049479307","https://openalex.org/W2052014837","https://openalex.org/W2056458921","https://openalex.org/W2059012050","https://openalex.org/W2069664630","https://openalex.org/W2081681998","https://openalex.org/W2107905629","https://openalex.org/W2116134448","https://openalex.org/W2117749802","https://openalex.org/W2119538218","https://openalex.org/W2123195103","https://openalex.org/W2124313187","https://openalex.org/W2126828700","https://openalex.org/W2127578024","https://openalex.org/W2137052305","https://openalex.org/W2139209110","https://openalex.org/W2141117754","https://openalex.org/W2146881125","https://openalex.org/W2148863747","https://openalex.org/W2153054365","https://openalex.org/W2154459632","https://openalex.org/W2155094592","https://openalex.org/W2155537009","https://openalex.org/W2163684122","https://openalex.org/W2170820055","https://openalex.org/W2171244244","https://openalex.org/W2296754596","https://openalex.org/W2408617662","https://openalex.org/W2471009653","https://openalex.org/W2548251346","https://openalex.org/W2582998992","https://openalex.org/W2601040338","https://openalex.org/W2610857016","https://openalex.org/W2611113411","https://openalex.org/W3021282624","https://openalex.org/W3138922280","https://openalex.org/W3143919370","https://openalex.org/W3147673685","https://openalex.org/W4206273864","https://openalex.org/W4245286259","https://openalex.org/W4301621763"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W4246278799","https://openalex.org/W136674370","https://openalex.org/W2105527480","https://openalex.org/W2052387497","https://openalex.org/W2050203848","https://openalex.org/W2050191802"],"abstract_inverted_index":{"This":[0],"work":[1],"investigates":[2],"the":[3,38,45,48,89,104,112,141,162],"pose":[4,57,125],"graph":[5,58],"optimization":[6,59,78,91],"problem,":[7],"which":[8,108],"arises":[9],"in":[10,29,54,146,174,194],"maximum":[11,39,105],"likelihood":[12,40,106],"approaches":[13,21],"to":[14,25,37,99,189],"simultaneous":[15],"localization":[16],"and":[17,31,155,159,186],"mapping":[18],"(SLAM).":[19],"State-of-the-art":[20],"have":[22],"been":[23],"demonstrated":[24],"be":[26,129],"very":[27,62,191],"efficient":[28],"medium-":[30],"large-sized":[32],"scenarios;":[33],"however,":[34],"their":[35],"convergence":[36],"estimate":[41],"heavily":[42],"relies":[43],"on":[44,153],"quality":[46],"of":[47,67,103,114,143,157],"initial":[49,116],"guess.":[50,117],"We":[51,95,149],"show":[52],"that,":[53],"planar":[55],"scenarios,":[56],"has":[60],"a":[61,76,132,195],"peculiar":[63],"structure.":[64],"The":[65,118],"problem":[66,79,92],"estimating":[68],"robot":[69,87],"orientations":[70],"from":[71],"relative":[72],"orientation":[73],"measurements":[74],"is":[75,172,180,187],"quadratic":[77],"(after":[80],"computing":[81],"suitable":[82],"regularization":[83],"terms);":[84],"moreover,":[85],"given":[86],"orientations,":[88],"overall":[90],"becomes":[93],"quadratic.":[94],"exploit":[96],"these":[97],"observations":[98],"design":[100],"an":[101,115],"approximation":[102],"estimate,":[107],"does":[109],"not":[110],"require":[111],"availability":[113],"approximation,":[119],"named":[120],"LAGO":[121,171],"(Linear":[122],"Approximation":[123],"for":[124],"Graph":[126],"Optimization),":[127],"can":[128,136],"used":[130],"as":[131],"stand-alone":[133],"tool":[134],"or":[135],"bootstrap":[137],"state-of-the-art":[138,184],"techniques,":[139,185],"reducing":[140],"risk":[142],"being":[144],"trapped":[145],"local":[147],"minima.":[148],"provide":[150],"analytical":[151],"results":[152,168],"existence":[154],"sub-optimality":[156],"LAGO,":[158],"we":[160],"discuss":[161],"factors":[163],"influencing":[164],"its":[165],"quality.":[166],"Experimental":[167],"demonstrate":[169],"that":[170],"accurate":[173],"common":[175],"SLAM":[176],"problems.":[177],"Moreover,":[178],"it":[179],"remarkably":[181],"faster":[182],"than":[183],"able":[188],"solve":[190],"large-scale":[192],"problems":[193],"few":[196],"seconds.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}