{"id":"https://openalex.org/W4400946126","doi":"https://doi.org/10.23919/ecc64448.2024.10591277","title":"Mobile Robot Localization: a Modular, Odometry-Improving Approach","display_name":"Mobile Robot Localization: a Modular, Odometry-Improving Approach","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946126","doi":"https://doi.org/10.23919/ecc64448.2024.10591277"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591277","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011088021","display_name":"Luca Mozzarelli","orcid":"https://orcid.org/0000-0002-5602-0292"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Mozzarelli","raw_affiliation_strings":["Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105990826","display_name":"Luca Cattaneo","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Cattaneo","raw_affiliation_strings":["Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":["Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Matteo Savaresi","raw_affiliation_strings":["Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":6.5515,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96776429,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3261","last_page":"3266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9897000193595886,"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":0.9897000193595886,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.947700023651123,"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":0.9409999847412109,"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/odometry","display_name":"Odometry","score":0.8680201768875122},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7381882667541504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6839099526405334},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6489837765693665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.598936140537262},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5834428071975708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5466943979263306},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5088062882423401}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8680201768875122},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7381882667541504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6839099526405334},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6489837765693665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.598936140537262},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5834428071975708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5466943979263306},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5088062882423401},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591277","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1287557","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1287557","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1528096135","https://openalex.org/W2061572177","https://openalex.org/W2094694151","https://openalex.org/W2132672839","https://openalex.org/W2168478887","https://openalex.org/W2344953603","https://openalex.org/W2411093439","https://openalex.org/W2972690017","https://openalex.org/W2989629490","https://openalex.org/W3129245057","https://openalex.org/W3156808330","https://openalex.org/W3156851382","https://openalex.org/W4205702889","https://openalex.org/W4233290410","https://openalex.org/W4378908580","https://openalex.org/W4386970253","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Despite":[0],"the":[1,50,88,98],"number":[2],"of":[3,32,52,87,91],"works":[4],"published":[5],"in":[6,34,65,104],"recent":[7],"years,":[8],"vehicle":[9],"localization":[10,18,36,43,54],"remains":[11],"an":[12],"open,":[13],"challenging":[14],"problem.":[15],"While":[16],"map-based":[17],"and":[19,25],"SLAM":[20],"algorithms":[21],"are":[22,70],"getting":[23],"better":[24],"better,":[26],"they":[27],"remain":[28],"a":[29,41,79,85,105],"single":[30],"point":[31],"failure":[33],"typical":[35],"pipelines.":[37],"This":[38],"paper":[39],"proposes":[40],"modular":[42],"architecture":[44,74],"that":[45],"fuses":[46],"sensor":[47],"measurements":[48,69],"with":[49,95],"outputs":[51],"off-the-shelf":[53],"algorithms.":[55],"The":[56,73],"fusion":[57],"filter":[58],"estimates":[59],"model":[60],"uncertainties":[61],"to":[62,97],"improve":[63],"odometry":[64],"case":[66],"absolute":[67],"pose":[68],"lost":[71],"entirely.":[72],"is":[75],"validated":[76],"experimentally":[77],"on":[78],"real":[80],"robot":[81],"navigating":[82],"autonomously":[83],"proving":[84],"reduction":[86],"position":[89,110],"error":[90],"more":[92],"than":[93],"90%":[94],"respect":[96],"odometrical":[99],"estimate":[100],"without":[101,109],"uncertainty":[102],"estimation":[103],"two-minute":[106],"navigation":[107],"period":[108],"measurements.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}