{"id":"https://openalex.org/W1991223461","doi":"https://doi.org/10.1177/027836499801700901","title":"Tracking Naturally Occurring Indoor Features in 2-D and 3-D with Lidar Range/ Amplitude Data","display_name":"Tracking Naturally Occurring Indoor Features in 2-D and 3-D with Lidar Range/ Amplitude Data","publication_year":1998,"publication_date":"1998-09-01","ids":{"openalex":"https://openalex.org/W1991223461","doi":"https://doi.org/10.1177/027836499801700901","mag":"1991223461"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801700901","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700901","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/A5030210127","display_name":"Martin Adams","orcid":"https://orcid.org/0000-0002-1085-0506"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M.D. Adams","raw_affiliation_strings":["Institute of Robotics Swiss Federal Institute of Technology Zurich, Switzerland","Institute of Robotics, Swiss Federal Institute of Technology, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics Swiss Federal Institute of Technology Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Institute of Robotics, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052654875","display_name":"Anushka Kerstens","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"A. Kerstens","raw_affiliation_strings":["Institute of Robotics Swiss Federal Institute of Technology Zurich, Switzerland","Institute of Robotics, Swiss Federal Institute of Technology, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics Swiss Federal Institute of Technology Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Institute of Robotics, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":36.7043,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99179112,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"17","issue":"9","first_page":"907","last_page":"923"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7270623445510864},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7162804007530212},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6980105042457581},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6810398101806641},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6166096329689026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6074457764625549},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5802372694015503},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5188087821006775},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5044008493423462},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4642975926399231},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4613492786884308},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19955438375473022}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7270623445510864},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7162804007530212},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6980105042457581},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6810398101806641},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6166096329689026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6074457764625549},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5802372694015503},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5188087821006775},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5044008493423462},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4642975926399231},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4613492786884308},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19955438375473022},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499801700901","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700901","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":13,"referenced_works":["https://openalex.org/W113485662","https://openalex.org/W1488766761","https://openalex.org/W1931582241","https://openalex.org/W2047710930","https://openalex.org/W2078984869","https://openalex.org/W2099034771","https://openalex.org/W2106092212","https://openalex.org/W2145023731","https://openalex.org/W2148228392","https://openalex.org/W2571050459","https://openalex.org/W2752932982","https://openalex.org/W2753006352","https://openalex.org/W3187867541"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W2954004777","https://openalex.org/W2949638731","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Sensor-data":[0],"processing":[1],"for":[2,17,173],"the":[3,12,24,36,58,61,69,85,93,101,105,107,111,115,139,145,150,171],"interpretation":[4],"of":[5,14,23,39,60,64,71,95,104,110,148],"a":[6,40,154,159,175],"mobile":[7,41,112],"robot's":[8,140],"indoor":[9,134],"environment,":[10],"and":[11,47,51,73,92,114,128,162],"manipulation":[13],"this":[15],"data":[16,131],"reliable":[18,72],"localization,":[19],"are":[20,120],"still":[21],"some":[22],"most":[25],"important":[26],"issues":[27],"in":[28,117,133,153,167],"robotics.":[29],"This":[30],"article":[31],"presents":[32],"algorithms":[33],"that":[34,68],"determine":[35],"true":[37],"position":[38,141],"robot,":[42],"based":[43],"on":[44],"real":[45,124],"2-D":[46,127],"3-D":[48,129],"optical":[49,96],"range":[50,90],"inten":[52],"sity":[53],"data.":[54],"We":[55,122],"start":[56],"with":[57,88],"physics":[59],"particular":[62],"type":[63],"sensor":[65],"used,":[66],"so":[67],"extraction":[70],"repeatable":[74],"information":[75,151,165],"(namely,":[76],"edge":[77],"coordinates)":[78],"can":[79],"be":[80],"determined,":[81],"taking":[82],"into":[83],"account":[84],"noise":[86],"associated":[87],"each":[89],"sample":[91],"possibility":[94],"multiple-path":[97],"effects.":[98],"Again,":[99],"applying":[100],"physical":[102],"model":[103],"sensor,":[106],"estimated":[108],"positions":[109,119],"robot":[113],"uncertainty":[116],"these":[118],"determined.":[121],"demonstrate":[123],"experiments":[125],"using":[126],"scan":[130,155],"taken":[132],"environ":[135],"ments.":[136],"To":[137],"update":[138],"reliably,":[142],"we":[143],"address":[144],"prob":[146],"lem":[147],"matching":[149],"recorded":[152,166],"to,":[156],"first,":[157],"an":[158,174],"priori":[160,176],"map,":[161],"second,":[163],"to":[164],"previous":[168],"scans,":[169],"eliminating":[170],"need":[172],"map.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}