{"id":"https://openalex.org/W2032386486","doi":"https://doi.org/10.3390/s140712467","title":"Solution to the SLAM Problem in Low Dynamic Environments Using a Pose Graph and an RGB-D Sensor","display_name":"Solution to the SLAM Problem in Low Dynamic Environments Using a Pose Graph and an RGB-D Sensor","publication_year":2014,"publication_date":"2014-07-11","ids":{"openalex":"https://openalex.org/W2032386486","doi":"https://doi.org/10.3390/s140712467","mag":"2032386486","pmid":"https://pubmed.ncbi.nlm.nih.gov/25019633"},"language":"en","primary_location":{"id":"doi:10.3390/s140712467","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s140712467","pdf_url":"https://www.mdpi.com/1424-8220/14/7/12467/pdf?version=1405081197","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/14/7/12467/pdf?version=1405081197","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086448529","display_name":"Donghwa Lee","orcid":"https://orcid.org/0000-0002-8956-3648"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghwa Lee","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea"],"affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea","Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea. hmyung@kaist.ac.kr"],"affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea. hmyung@kaist.ac.kr","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059521863"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":72.5412,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99673076,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"14","issue":"7","first_page":"12467","last_page":"12496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T12288","display_name":"Optimization and Search Problems","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7884618639945984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6887587904930115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6732239723205566},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6620429754257202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6406222581863403},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6142679452896118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5292695760726929},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.42989516258239746},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4015968441963196},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13724541664123535}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7884618639945984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6887587904930115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732239723205566},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6620429754257202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6406222581863403},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6142679452896118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5292695760726929},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.42989516258239746},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4015968441963196},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13724541664123535}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004777","descriptor_name":"Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004777","descriptor_name":"Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004777","descriptor_name":"Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s140712467","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s140712467","pdf_url":"https://www.mdpi.com/1424-8220/14/7/12467/pdf?version=1405081197","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:25019633","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25019633","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:b89635081cfb4885abb0489032694dfe","is_oa":true,"landing_page_url":"https://doaj.org/article/b89635081cfb4885abb0489032694dfe","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 14, Iss 7, Pp 12467-12496 (2014)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/14/7/12467/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s140712467","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 14; Issue 7; Pages: 12467-12496","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:4168432","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4168432","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s140712467","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s140712467","pdf_url":"https://www.mdpi.com/1424-8220/14/7/12467/pdf?version=1405081197","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5760366574","display_name":null,"funder_award_id":"10035354","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"},{"id":"https://openalex.org/G6635732358","display_name":null,"funder_award_id":"MOTIE","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"},{"id":"https://openalex.org/G992484961","display_name":null,"funder_award_id":"Korea","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2032386486.pdf","grobid_xml":"https://content.openalex.org/works/W2032386486.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1540596182","https://openalex.org/W1980523383","https://openalex.org/W1990012555","https://openalex.org/W1990884907","https://openalex.org/W1999399477","https://openalex.org/W2033938800","https://openalex.org/W2041620409","https://openalex.org/W2056898157","https://openalex.org/W2078576466","https://openalex.org/W2085261163","https://openalex.org/W2103393159","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2109271936","https://openalex.org/W2119605622","https://openalex.org/W2132631693","https://openalex.org/W2136760085","https://openalex.org/W2137052305","https://openalex.org/W2143864104","https://openalex.org/W2151103935","https://openalex.org/W2153054365","https://openalex.org/W2156715992","https://openalex.org/W2233012418","https://openalex.org/W6812684363"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2894986065","https://openalex.org/W4387967917","https://openalex.org/W4287600488","https://openalex.org/W28570768","https://openalex.org/W4386925306","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W4318473896"],"abstract_inverted_index":{"In":[0],"this":[1,115],"study,":[2],"we":[3,117],"propose":[4,118],"a":[5,21,75,102,119,132,216],"solution":[6],"to":[7,35,141,159,176],"the":[8,39,49,57,85,95,143,150,160,170,182,193,197,208],"simultaneous":[9],"localization":[10,199],"and":[11,24,136,196,200],"mapping":[12,201],"(SLAM)":[13],"problem":[14],"in":[15,37,48,62,66,84,212],"low":[16,31,50,125],"dynamic":[17,32,51,64,126],"environments":[18,33,65,86],"by":[19],"using":[20,74,215],"pose":[22,133,171,186],"graph":[23,134,172,187],"an":[25,137,177],"RGB-D":[26,138],"(red-green-blue":[27],"depth)":[28],"sensor.":[29,139],"The":[30,82,128,185,205],"refer":[34],"situations":[36],"which":[38,67,104],"positions":[40],"of":[41,59,77,90,149,169,207],"objects":[42,60,70,98],"change":[43],"over":[44],"long":[45],"intervals.":[46],"Therefore,":[47],"environments,":[52],"robots":[53],"have":[54],"difficulty":[55],"recognizing":[56],"repositioning":[58],"unlike":[61],"highly":[63],"relatively":[68],"fast-moving":[69],"can":[71],"be":[72],"detected":[73],"variety":[76],"moving":[78],"object":[79],"detection":[80],"algorithms.":[81],"changes":[83],"then":[87],"cause":[88],"groups":[89],"false":[91,167,194],"loop":[92],"closing":[93],"when":[94],"same":[96],"moved":[97],"are":[99,156,173,203],"observed":[100],"for":[101],"while,":[103],"means":[105],"that":[106,123,152],"conventional":[107],"SLAM":[108,121],"algorithms":[109],"produce":[110],"incorrect":[111],"results.":[112],"To":[113],"address":[114],"problem,":[116],"novel":[120],"method":[122,130,209],"handles":[124],"environments.":[127],"proposed":[129],"uses":[131],"structure":[135,188],"First,":[140],"prune":[142],"falsely":[144],"grouped":[145,157,183],"constraints":[146,168],"efficiently,":[147],"nodes":[148],"graph,":[151],"represent":[153],"robot":[154,218],"poses,":[155],"according":[158,175],"grouping":[161],"rules":[162],"with":[163],"noise":[164],"covariances.":[165],"Next,":[166],"pruned":[174],"error":[178],"metric":[179],"based":[180],"on":[181],"nodes.":[184],"is":[189],"reoptimized":[190],"after":[191],"eliminating":[192],"information,":[195],"corrected":[198],"results":[202],"obtained.":[204],"performance":[206],"was":[210],"validated":[211],"real":[213],"experiments":[214],"mobile":[217],"system.":[219]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}