{"id":"https://openalex.org/W1980945939","doi":"https://doi.org/10.1177/027836498800700604","title":"Object Localization with Multiple Sensors","display_name":"Object Localization with Multiple Sensors","publication_year":1988,"publication_date":"1988-12-01","ids":{"openalex":"https://openalex.org/W1980945939","doi":"https://doi.org/10.1177/027836498800700604","mag":"1980945939"},"language":"en","primary_location":{"id":"doi:10.1177/027836498800700604","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498800700604","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/A5100763871","display_name":"Shashank Shekhar","orcid":"https://orcid.org/0000-0001-5216-7310"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shashank Shekhar","raw_affiliation_strings":["Robotics Laboratory Computer Science Department Stanford University Stanford, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Computer Science Department Stanford University Stanford, California","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oussama Khatib","raw_affiliation_strings":["Robotics Laboratory Computer Science Department Stanford University Stanford, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Computer Science Department Stanford University Stanford, California","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103932906","display_name":"Makoto Shimojo","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Makoto Shimojo","raw_affiliation_strings":["Robotics Laboratory Computer Science Department Stanford University Stanford, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory Computer Science Department Stanford University Stanford, California","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":26.6896,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.98741358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"6","first_page":"34","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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":0.996999979019165,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9904000163078308,"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/orientation","display_name":"Orientation (vector space)","score":0.8219221234321594},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5979403853416443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49038052558898926},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4729204773902893},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4621819257736206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45396125316619873},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44694823026657104},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43508070707321167},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42559194564819336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4134826958179474},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4108959436416626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3573946952819824},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08742523193359375}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.8219221234321594},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5979403853416443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49038052558898926},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4729204773902893},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4621819257736206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45396125316619873},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44694823026657104},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43508070707321167},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42559194564819336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4134826958179474},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4108959436416626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3573946952819824},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08742523193359375},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836498800700604","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498800700604","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:CiteSeerX.psu:10.1.1.900.8960","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.900.8960","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/7/6/34.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W121511052","https://openalex.org/W1532977286","https://openalex.org/W1666410065","https://openalex.org/W2003551320","https://openalex.org/W2067063617","https://openalex.org/W2150534220","https://openalex.org/W2316358258"],"related_works":["https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2737719445","https://openalex.org/W2362165903","https://openalex.org/W2157278770","https://openalex.org/W1975173418","https://openalex.org/W2366008286","https://openalex.org/W2970295229","https://openalex.org/W2065854286","https://openalex.org/W3022629203"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,40,52,83,151,161,172,198],"method":[3,189],"to":[4,23,127,143],"obtain":[5],"the":[6,34,44,46,56,66,70,77,80,87,93,100,140,144,147,166,184],"position":[7,37],"and":[8,28,205],"orientation":[9,49,81,101,141],"of":[10,25,36,43,48,55,79,82,98,118,122,132,165,169,180],"an":[11,129,195],"object":[12,196],"through":[13],"measurement":[14],"from":[15,115,146],"multiple":[16],"sensors.":[17,208],"Raw":[18],"sensor":[19,26,116],"measurements":[20,33,72,117],"are":[21,73],"subject":[22],"limitations":[24],"precision":[27],"accuracy.":[29],"Although":[30],"for":[31,193],"most":[32],"estimate":[35,47,63,78,156,185],"parameters":[38,50,142],"is":[39,51,85,104,125,157],"linear":[41,152,163],"function":[42,54],"measurements,":[45],"nonlinear":[53],"measurements.":[57],"Thus,":[58],"error":[59],"in":[60,106,171,197],"orien":[61],"tation":[62],"depends":[64],"on":[65,92],"distance":[67],"over":[68],"which":[69],"raw":[71],"made.":[74],"For":[75],"example,":[76],"line":[84,94],"better,":[86],"farther":[88],"apart":[89],"two":[90,107],"points":[91],"are.":[95],"The":[96,109,136,154,176],"problem":[97],"finding":[99],"parame":[102],"ters":[103],"formulated":[105],"steps.":[108],"first":[110,148],"step":[111,138,149],"computes":[112],"vec":[113],"tors":[114],"points.":[119],"A":[120],"concept":[121],"best":[123,155,181],"features":[124,182],"developed":[126],"select":[128],"optimal":[130,167],"set":[131,168],"all":[133],"possible":[134],"vectors.":[135],"second":[137],"relates":[139],"vectors":[145,170],"as":[150],"system.":[153],"obtained":[158],"by":[159],"solving":[160],"weighted":[162],"system":[164],"least":[173],"squares":[174],"sense.":[175],"opti":[177],"mal":[178],"selection":[179],"improves":[183],"substan":[186],"tially.":[187],"This":[188],"has":[190],"been":[191],"implemented":[192],"localizing":[194],"manipulator":[199],"end-effector":[200],"instrumented":[201],"with":[202],"cen":[203],"troid":[204],"matrix":[206],"tactile":[207]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}