{"id":"https://openalex.org/W4389098906","doi":"https://doi.org/10.3390/s23239468","title":"Research on Positioning Accuracy of Mobile Robot in Indoor Environment Based on Improved RTABMAP Algorithm","display_name":"Research on Positioning Accuracy of Mobile Robot in Indoor Environment Based on Improved RTABMAP Algorithm","publication_year":2023,"publication_date":"2023-11-28","ids":{"openalex":"https://openalex.org/W4389098906","doi":"https://doi.org/10.3390/s23239468","pmid":"https://pubmed.ncbi.nlm.nih.gov/38067842"},"language":"en","primary_location":{"id":"doi:10.3390/s23239468","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23239468","pdf_url":"https://www.mdpi.com/1424-8220/23/23/9468/pdf?version=1701166077","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/1424-8220/23/23/9468/pdf?version=1701166077","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012385922","display_name":"Shijie Zhou","orcid":"https://orcid.org/0000-0001-8314-754X"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijie Zhou","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006508667","display_name":"Zelun Li","orcid":"https://orcid.org/0000-0002-9544-3925"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zelun Li","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061640992","display_name":"Zhongliang Lv","orcid":"https://orcid.org/0000-0002-2702-8471"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongliang Lv","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":"https://orcid.org/0000-0002-2702-8471","affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103048005","display_name":"Chuande Zhou","orcid":"https://orcid.org/0000-0002-1059-8398"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuande Zhou","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009684691","display_name":"Pengcheng Wu","orcid":"https://orcid.org/0000-0003-0487-2060"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengcheng Wu","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101272294","display_name":"Changshuang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changshuang Zhu","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100735251","display_name":"Wei Liu","orcid":"https://orcid.org/0009-0008-6189-1288"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["Chongqing University of Science and Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Science and Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006508667"],"corresponding_institution_ids":["https://openalex.org/I168337820"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":2.7666,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9248611,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"23","issue":"23","first_page":"9468","last_page":"9468"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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":0.7883831262588501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6988511681556702},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6820697784423828},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6591935157775879},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6376577019691467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6302180886268616},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6239445209503174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5811623930931091},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5591287612915039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5242643356323242},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.47359350323677063},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.47304362058639526},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4661354422569275},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43852946162223816},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4126819968223572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1599741280078888},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1507483422756195},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1441308557987213}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7883831262588501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6988511681556702},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6820697784423828},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6591935157775879},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6376577019691467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6302180886268616},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6239445209503174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5811623930931091},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5591287612915039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5242643356323242},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.47359350323677063},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.47304362058639526},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4661354422569275},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43852946162223816},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4126819968223572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1599741280078888},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1507483422756195},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1441308557987213},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23239468","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23239468","pdf_url":"https://www.mdpi.com/1424-8220/23/23/9468/pdf?version=1701166077","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:38067842","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38067842","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:pubmedcentral.nih.gov:10708598","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10708598","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10708598/pdf/sensors-23-09468.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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"},{"id":"pmh:oai:doaj.org/article:fa739b63d8004c318970641becb7a5b8","is_oa":true,"landing_page_url":"https://doaj.org/article/fa739b63d8004c318970641becb7a5b8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 23, Iss 23, p 9468 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23239468","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23239468","pdf_url":"https://www.mdpi.com/1424-8220/23/23/9468/pdf?version=1701166077","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G1566303851","display_name":null,"funder_award_id":"KJZD-K202101504","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G2373057471","display_name":null,"funder_award_id":"2022NSCQ","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G2756212314","display_name":null,"funder_award_id":"51705049","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G2827302421","display_name":null,"funder_award_id":"KJZD-K202101504","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3046085296","display_name":null,"funder_award_id":"2022NSCQ-LZX0046","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3875233408","display_name":null,"funder_award_id":"51705049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4384809305","display_name":null,"funder_award_id":"CSTB2023NSCQ-MSX0940","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G4427435602","display_name":null,"funder_award_id":"CSTB2023NSCQ","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G4454686217","display_name":null,"funder_award_id":"2022NSCQ-LZX0046","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G581076097","display_name":null,"funder_award_id":"CSTB2023NSCQ-MSX0940","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324805","display_name":"Chongqing Municipal Education Commission","ror":"https://ror.org/031nm5713"},{"id":"https://openalex.org/F4320327639","display_name":"Centre Scientifique et Technique du B\u00e2timent","ror":"https://ror.org/02fsd1928"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389098906.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2020890121","https://openalex.org/W2060977605","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2385227731","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2586756649","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2764016564","https://openalex.org/W2896938208","https://openalex.org/W2898231767","https://openalex.org/W2899548746","https://openalex.org/W2963813675","https://openalex.org/W2996945478","https://openalex.org/W3084873522","https://openalex.org/W3091687063","https://openalex.org/W3102327032","https://openalex.org/W3215802941","https://openalex.org/W4205544116","https://openalex.org/W4246614213","https://openalex.org/W4287009832","https://openalex.org/W4312428106","https://openalex.org/W4323967550","https://openalex.org/W4380080557","https://openalex.org/W4386996288"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W2125308530","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2034836143","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W4386821976"],"abstract_inverted_index":{"Visual":[0],"simultaneous":[1],"localization":[2],"and":[3,43,82,84,99,106,117,140,174],"mapping":[4],"is":[5,58,65,143,162],"a":[6],"widely":[7],"used":[8],"technology":[9,23],"for":[10,74],"mobile":[11,179],"robots":[12],"to":[13,41,66,91,137],"carry":[14],"out":[15],"precise":[16],"positioning":[17],"in":[18,150],"the":[19,27,79,93,122,129,138,141,151,159,166,169,172,178],"environment":[20,153],"of":[21,97,110,177],"GNSS":[22],"failure.":[24],"However,":[25],"as":[26],"robot":[28,180],"moves":[29],"around":[30],"indoors,":[31],"its":[32],"position":[33],"accuracy":[34],"will":[35],"gradually":[36],"decrease":[37],"over":[38],"time":[39],"due":[40],"common":[42],"unavoidable":[44],"environmental":[45],"factors.":[46],"In":[47,121],"this":[48],"paper,":[49],"we":[50],"propose":[51],"an":[52,68],"improved":[53,160],"method":[54,127,161],"called":[55],"RTABMAP-VIWO,":[56],"which":[57],"based":[59],"on":[60],"RTABMAP.":[61],"The":[62,155],"basic":[63],"idea":[64],"use":[67],"Extended":[69],"Kalman":[70],"Filter":[71],"(EKF)":[72],"framework":[73],"fusion":[75],"attitude":[76],"estimates":[77],"from":[78],"wheel":[80],"odometry":[81],"IMU,":[83],"provide":[85],"new":[86],"prediction":[87],"values.":[88],"This":[89],"helps":[90],"reduce":[92],"local":[94],"cumulative":[95],"error":[96],"RTABMAP":[98,170],"make":[100],"it":[101],"more":[102],"accurate.":[103],"We":[104],"compare":[105],"evaluate":[107],"three":[108],"kinds":[109],"SLAM":[111],"methods":[112],"using":[113],"both":[114],"public":[115],"datasets":[116],"real":[118,152],"indoor":[119],"scenes.":[120],"dataset":[123],"experiments,":[124],"our":[125],"proposed":[126],"reduces":[128],"Root-Mean-Square":[130],"Error":[131],"(RMSE)":[132],"coefficient":[133,142],"by":[134,146],"48.1%":[135],"compared":[136],"RTABMAP,":[139],"also":[144],"reduced":[145],"at":[147],"least":[148],"29.4%":[149],"experiments.":[154],"results":[156],"demonstrate":[157],"that":[158],"feasible.":[163],"By":[164],"incorporating":[165],"IMU":[167],"into":[168],"method,":[171],"trajectory":[173],"posture":[175],"errors":[176],"are":[181],"significantly":[182],"improved.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
