{"id":"https://openalex.org/W4385241776","doi":"https://doi.org/10.5821/dissertation-2117-93497","title":"Environment learning for indoor mobile robots","display_name":"Environment learning for indoor mobile robots","publication_year":2003,"publication_date":"2003-04-08","ids":{"openalex":"https://openalex.org/W4385241776","doi":"https://doi.org/10.5821/dissertation-2117-93497"},"language":"ca","primary_location":{"id":"doi:10.5821/dissertation-2117-93497","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-93497","pdf_url":"https://upcommons.upc.edu/bitstream/2117/93497/1/THESIS.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"type":"dissertation","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://upcommons.upc.edu/bitstream/2117/93497/1/THESIS.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039307249","display_name":"Juan Andrade\u2010Cetto","orcid":"https://orcid.org/0000-0002-6354-8941"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Andrade-Cetto, Juan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5039307249"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9970999956130981,"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":0.9939000010490417,"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/humanities","display_name":"Humanities","score":0.8228553533554077},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.5259878039360046},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.35046327114105225},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14840251207351685}],"concepts":[{"id":"https://openalex.org/C15708023","wikidata":"https://www.wikidata.org/wiki/Q80083","display_name":"Humanities","level":1,"score":0.8228553533554077},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.5259878039360046},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.35046327114105225},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14840251207351685}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.5821/dissertation-2117-93497","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-93497","pdf_url":"https://upcommons.upc.edu/bitstream/2117/93497/1/THESIS.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},{"id":"pmh:oai:upcommons.upc.edu:2117/93497","is_oa":false,"landing_page_url":"http://www.tdx.cat/TDX-0502103-121500","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"Doctoral thesis"},{"id":"pmh:oai:www.tdx.cat:10803/6185","is_oa":false,"landing_page_url":"http://hdl.handle.net/10803/6185","pdf_url":null,"source":{"id":"https://openalex.org/S4306401111","display_name":"Tesis Doctorals en Xarxa (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/doctoralThesis"}],"best_oa_location":{"id":"doi:10.5821/dissertation-2117-93497","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-93497","pdf_url":"https://upcommons.upc.edu/bitstream/2117/93497/1/THESIS.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385241776.pdf"},"referenced_works_count":163,"referenced_works":["https://openalex.org/W22745672","https://openalex.org/W31234252","https://openalex.org/W43396434","https://openalex.org/W126946642","https://openalex.org/W172574161","https://openalex.org/W174062176","https://openalex.org/W220525228","https://openalex.org/W303359171","https://openalex.org/W967868978","https://openalex.org/W1153576859","https://openalex.org/W1479928838","https://openalex.org/W1489091441","https://openalex.org/W1501124120","https://openalex.org/W1505389308","https://openalex.org/W1520321755","https://openalex.org/W1525683844","https://openalex.org/W1529407153","https://openalex.org/W1529474065","https://openalex.org/W1531532259","https://openalex.org/W1539854031","https://openalex.org/W1540783983","https://openalex.org/W1544153300","https://openalex.org/W1552979598","https://openalex.org/W1557046438","https://openalex.org/W1559794319","https://openalex.org/W1580557560","https://openalex.org/W1590739438","https://openalex.org/W1592813209","https://openalex.org/W1596676983","https://openalex.org/W1601378499","https://openalex.org/W1602129629","https://openalex.org/W1622620102","https://openalex.org/W1667165204","https://openalex.org/W1716993797","https://openalex.org/W1756736144","https://openalex.org/W1760322595","https://openalex.org/W1770284412","https://openalex.org/W1786529921","https://openalex.org/W1813558895","https://openalex.org/W1874694348","https://openalex.org/W1875777058","https://openalex.org/W1897396419","https://openalex.org/W1911155599","https://openalex.org/W1928522120","https://openalex.org/W1966671935","https://openalex.org/W1970393892","https://openalex.org/W1977272108","https://openalex.org/W1977948323","https://openalex.org/W1981934656","https://openalex.org/W1990012555","https://openalex.org/W1993811552","https://openalex.org/W2000701155","https://openalex.org/W2004615287","https://openalex.org/W2006921704","https://openalex.org/W2007635681","https://openalex.org/W2013107257","https://openalex.org/W2015206503","https://openalex.org/W2020934227","https://openalex.org/W2021861830","https://openalex.org/W2028310195","https://openalex.org/W2029868672","https://openalex.org/W2041617662","https://openalex.org/W2041971794","https://openalex.org/W2047339311","https://openalex.org/W2052260337","https://openalex.org/W2053939793","https://openalex.org/W2054847199","https://openalex.org/W2054989861","https://openalex.org/W2055447045","https://openalex.org/W2057217971","https://openalex.org/W2058009001","https://openalex.org/W2059880539","https://openalex.org/W2064834930","https://openalex.org/W2069239883","https://openalex.org/W2071115058","https://openalex.org/W2071117462","https://openalex.org/W2075570707","https://openalex.org/W2080710317","https://openalex.org/W2083402998","https://openalex.org/W2090786385","https://openalex.org/W2098109165","https://openalex.org/W2100053656","https://openalex.org/W2100904191","https://openalex.org/W2103139809","https://openalex.org/W2103440937","https://openalex.org/W2103719262","https://openalex.org/W2104095591","https://openalex.org/W2104181141","https://openalex.org/W2105519301","https://openalex.org/W2107402720","https://openalex.org/W2107859853","https://openalex.org/W2107902126","https://openalex.org/W2108078370","https://openalex.org/W2108705545","https://openalex.org/W2109513571","https://openalex.org/W2109562068","https://openalex.org/W2111295154","https://openalex.org/W2120962829","https://openalex.org/W2121990344","https://openalex.org/W2124592837","https://openalex.org/W2126271496","https://openalex.org/W2126423185","https://openalex.org/W2126626010","https://openalex.org/W2126766706","https://openalex.org/W2129071302","https://openalex.org/W2130852056","https://openalex.org/W2131874588","https://openalex.org/W2135346934","https://openalex.org/W2136761100","https://openalex.org/W2138342591","https://openalex.org/W2139702032","https://openalex.org/W2141234216","https://openalex.org/W2141750210","https://openalex.org/W2142362566","https://openalex.org/W2143864104","https://openalex.org/W2146987421","https://openalex.org/W2147216964","https://openalex.org/W2148769229","https://openalex.org/W2148916113","https://openalex.org/W2150076544","https://openalex.org/W2150253101","https://openalex.org/W2150839555","https://openalex.org/W2151679392","https://openalex.org/W2151783599","https://openalex.org/W2152208313","https://openalex.org/W2154418813","https://openalex.org/W2155097781","https://openalex.org/W2156300606","https://openalex.org/W2156447544","https://openalex.org/W2156559507","https://openalex.org/W2160410737","https://openalex.org/W2160584648","https://openalex.org/W2163868998","https://openalex.org/W2164909551","https://openalex.org/W2164937559","https://openalex.org/W2167169918","https://openalex.org/W2168659387","https://openalex.org/W2170024818","https://openalex.org/W2172242240","https://openalex.org/W2173710661","https://openalex.org/W2177031017","https://openalex.org/W2326588846","https://openalex.org/W2491009754","https://openalex.org/W2503920289","https://openalex.org/W2571050459","https://openalex.org/W2613501150","https://openalex.org/W2752885492","https://openalex.org/W3021282624","https://openalex.org/W3040777582","https://openalex.org/W4213169779","https://openalex.org/W4239727685","https://openalex.org/W4239875977","https://openalex.org/W4241522167","https://openalex.org/W4245967161","https://openalex.org/W4248203249","https://openalex.org/W4250533120","https://openalex.org/W4252112222","https://openalex.org/W4252559437","https://openalex.org/W4253357907","https://openalex.org/W4293052488","https://openalex.org/W4298563212","https://openalex.org/W4300559773","https://openalex.org/W4302576647"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W4391375266"],"abstract_inverted_index":{"Aquesta":[0],"tesi":[1,523,953],"tracta":[2,303],"el":[3,128,194,224,300,314,366,408,489,556,659,675,732,755,757,787,1032,1084,1221,1231,1266,1301,1321,1416,1421,1432,1452,1459],"problema":[4,195,262,301,1072,1085,1302,1375,1417],"de":[5,15,26,30,39,56,77,79,88,102,105,107,118,130,146,156,161,170,183,197,203,206,217,222,252,282,307,309,335,341,380,387,392,402,417,424,439,443,447,460,504,507,531,534,543,545,548,550,558,570,580,585,600,606,611,621,629,634,641,654,661,682,686,692,717,722,734,793,796,800,811,814,825,829,832,834,842,844,854,864,868,877,879,899,903,907,913,928,930,945,959,967,978,982,986,1001,1013,1017,1034,1054,1064,1073,1076,1079,1089,1098,1102,1106,1112,1117,1127,1131,1135,1144,1154,1158,1168,1174,1183,1185,1196,1200,1203,1205,1210,1216,1233,1241,1250,1260,1268,1277,1290,1303,1305,1313,1316,1323,1327,1330,1351,1393,1406,1423,1425,1428,1454,1456,1462,1470],"l'aprenentatge":[6],"autom\u00e0tic":[7],"d'entorns":[8],"estructurats":[9],"n":[10],"rob\u00f2tica":[11,132],"m\u00f2bil.":[12,133],"Particularment,":[13],"l'extracci\u00f3":[14,38],"caracter\u00edstiques":[16,40,875],"a":[17,37,41,61,327,516,578,604,651,695,728,741,759,762,886,893,975,1041,1100,1129,1152,1165,1180,1262,1435],"partir":[18,42,62,579,605,1042,1101,1130,1153],"dels":[19,21,54,116,220,279,291,400,456,478,493,502,632,684,744,919,1024],"senyals":[20],"sensors,":[22],"la":[23,51,97,131,168,204,218,227,258,271,310,342,347,357,384,413,440,465,513,546,597,618,630,649,718,723,742,767,774,780,845,850,887,926,971,979,993,999,1004,1010,1021,1057,1069,1096,1109,1115,1125,1141,1155,1166,1181,1194,1234,1248,1275,1284,1314,1328,1338,1371,1384,1391,1426,1463,1468],"construcci\u00f3":[24,348,441,505,532,598,768,794,888,980,1011,1074],"aut\u00f2noma":[25],"mapes,":[27],"i":[28,44,125,140,158,164,175,256,288,299,319,346,364,445,472,509,520,536,588,602,645,721,779,798,818,849,923,942,961,984,1015,1046,1056,1078],"l'autolocalitzaci\u00f3":[29,446,603,985,1016],"robots.&lt;br/&gt;S'estudien":[31],"els":[32,48,75,120,250,428,689,706,715,819,861,1052,1062],"fonaments":[33],"matem\u00e0tics":[34],"necessaris":[35],"per":[36,96,150,269,276,382,390,463,596,740,885,910,970,973,998,1009,1050],"d'imatges":[43],"registres":[45],"d'un":[46,65,349,541,671,700,769,1006],"l\u00e0ser,":[47],"quals":[49,121,479],"permeten":[50,166],"identificaci\u00f3":[52],"un\u00edvoca":[53,1143],"elements":[55,76,221,251,281,401,477,494,633,685,822,920,1025],"l'entorn.":[57,283],"Els":[58],"atributs":[59],"extrets":[60],"del":[63,229,231,261,273,286,305,322,344,474,496,529,553,704,823,840,889,921,1026,1071,1086,1147,1172,1333,1340,1364,1374,1386,1397,1401,1441,1465],"senyal":[64],"sol":[66],"sensor":[67,1161],"poden":[68,122,186],"ser":[69,123,187,812,1163,1226,1294],"insuficients":[70],"quan":[71,238,243,430,932,1037],"es":[72,83,293,302,324,431,576,782,882,895,933,949,1038,1473],"volen":[73],"caracteritzar":[74],"l'entorn":[78,253,403,635],"forma":[80,1175],"invariant;":[81],"aix\u00f2":[82],"pot":[84,783],"millorar":[85],"combinant":[86],"informaci\u00f3":[87],"m\u00faltiples":[89,207,1186,1317],"fonts.":[90],"Es":[91,199,376,410,711,771,859],"presenta":[92,950,1189],"un":[93,180,378,435,454,526,564,572,594,613,663,737,749,807,916,1136,1159,1190,1287,1471],"nou":[94,1007],"algorisme":[95,792,1008],"fusi\u00f3":[98,110,1000],"d'informaci\u00f3":[99,111],"complementaria":[100,1198],"extreta":[101],"dos":[103,296,1201,1412],"m\u00f2duls":[104],"visi\u00f3":[106,149,972],"baix":[108],"nivell.&lt;br/&gt;Aquesta":[109],"produeix":[112],"descripcions":[113],"m\u00e9s":[114,371,562,727,758,892,894],"completes":[115],"objectes":[117],"l'entorn,":[119,223],"seguits":[124],"apresos":[126],"dins":[127],"context":[129],"Les":[134,989],"variacions":[135],"en":[136,148,179,189,264,333,361,369,396,407,452,458,468,488,512,638,786,806,951,957,1031,1068,1092,1220,1230,1238,1252,1286,1296,1310,1377,1430,1451,1482,1490],"les":[137,141,201,289,388,394,398,422,461,480,500,568,591,642,816,830,835,865,911,939,1047,1065],"condicions":[138],"d'il\u00b7luminaci\u00f3":[139],"oclusions":[142],"fan":[143],"que":[144,209,225,352,365,397,491,555,563,575,636,646,731,752,803,881,901,948,964,1019,1178,1247,1361,1474,1487],"l'associaci\u00f3":[145,459,906],"dades":[147,462,880,1002],"computador":[151,1255],"sigui":[152],"una":[153,627,652,679,763,897,1257,1324],"tasca":[154],"dif\u00edcil":[155,1259],"completar.&lt;br/&gt;Tot":[157],"aix\u00f2,":[159],"l'\u00fas":[160,334],"restriccions":[162],"geom\u00e8triques":[163],"fotogram\u00e8triques":[165],"reduir":[167,714],"cerca":[169,931],"correspond\u00e8ncies":[171],"entre":[172,233,777,870,1279,1343],"imatges":[173,190,234],"successives;":[174,235],"al":[176,320,1282,1439],"centrar":[177,1283],"l'atenci\u00f3":[178],"redu\u00eft":[181,672,701],"nombre":[182,673,702],"caracter\u00edstiques,":[184],"aquestes":[185,266],"seguides":[188],"successives,":[191],"simplificant":[192],"aix\u00ed":[193,872,937,1060],"d'associaci\u00f3":[196,944],"dades.":[198,908],"recalquen":[200],"t\u00e8cniques":[202,336,956,1048],"geometria":[205],"vistes":[208],"s\u00f3n":[210,247,837,992],"rellevants":[211],"pel":[212,338],"c\u00f2mput":[213,339],"d'una":[214,995],"estimaci\u00f3":[215,628,680],"inicial":[216,1326],"posici\u00f3":[219,272,343,631],"permet":[226],"reconstrucci\u00f3":[228,619,743,1035],"moviment":[230,285,321],"robot":[232,287,323,345,756,1342,1402,1442,1466],"situaci\u00f3":[236],"desitjable":[237],"no":[239,404,482,498,560,647,708,1066],"existeix":[240],"odometria":[241],"o":[242,1353],"las":[244,1103,1138,1239,1244,1311,1404],"seves":[245],"lectures":[246,290],"poc":[248],"fiables.&lt;br/&gt;Quan":[249],"s'han":[254],"extret":[255],"identificat,":[257],"segona":[259],"part":[260],"consisteix":[263,451],"utilitzar":[265],"observacions":[267,389,399,481,643,817,836],"tant":[268,625],"estimar":[270,1383],"robot,":[274,1387],"com":[275,295,326,412,713,773,873,938,1061],"refinar":[277,1390],"l'estimaci\u00f3":[278],"mateixos":[280],"El":[284,1399],"sensors":[292,318],"consideren":[294,325],"processos":[297],"estoc\u00e0stics,":[298],"des":[304,540,839,966],"punt":[306,542,841],"vista":[308,544,843,1424],"teoria":[311,547],"d'estimaci\u00f3,":[312],"on":[313],"soroll":[315],"inherent":[316],"als":[317],"seq\u00fc\u00e8ncies":[328],"aleat\u00f2ries.&lt;br/&gt;El":[329],"principal":[330,450,1448],"inconvenient":[331],"existent":[332,776],"d'estimaci\u00f3":[337,437],"concurrent":[340,442,506,533,599,795,981,1012,1075],"mapa,":[350,922,1472],"\u00e9s":[351,515,561,736,746],"fins":[353],"ara":[354],"s'ha":[355,804,853],"considerat":[356],"seva":[358,846,851],"aplicaci\u00f3":[359,852],"\u00fanicament":[360],"entorns":[362],"est\u00e0tics,":[363],"seu":[367],"\u00fas":[368],"situacions":[370,395],"realistes":[372],"ofereix":[373],"poca":[374],"robustesa.":[375],"proposa":[377,954],"conjunt":[379],"funcions":[381],"avaluar":[383],"qualitat":[385,418,1022],"temporal":[386,419,943,1023],"tal":[391],"resoldre":[393],"siguin":[405,483],"consistents":[406],"temps.":[409],"mostra":[411,712,772],"utilitzaci\u00f3":[414],"d'aquestes":[415],"proves":[416,423,831,867,912,940],"conjuntament":[420],"amb":[421,434,589,688,856,915,925],"compatibilitat":[425,833,869,914],"espacial":[426,941],"milloren":[427],"resultats":[429,1029],"fen":[432],"servir":[433,785,884],"m\u00e8tode":[436],"\u00f2ptima":[438],"mapes":[444,508,535,601,797,983,1014,1040,1077],"robots.&lt;br/&gt;La":[448],"idea":[449],"emprar":[453],"hist\u00f2ric":[455],"errors":[457,470],"calcular":[464],"possibilitat":[466],"d'inc\u00f3rrer":[467],"nous":[469,968,1028],"d'associaci\u00f3;":[471],"excloure":[473],"mapa":[475,497,824],"aquells":[476],"consistents.&lt;br/&gt;Es":[484],"posa":[485],"especial":[486,857],"atenci\u00f3":[487],"fet":[490,554,610,660],"l'eliminaci\u00f3":[492],"inconsistents":[495],"violi":[499],"propietats":[501],"algorismes":[503,969],"autolocalitzaci\u00f3":[510,537,799],"descrits":[511],"literatura;":[514],"dir,":[517],"converg\u00e8ncia":[518,650],"assimpt\u00f2tica":[519],"correlaci\u00f3":[521,719],"completa.&lt;br/&gt;Aquesta":[522],"proporciona":[524],"tamb\u00e9":[525],"profund":[527],"an\u00e0lisi":[528],"model":[530,614,917],"totalment":[538,582,608,1044],"correlat":[539],"control":[549],"sistemes.":[551],"Partint":[552],"filtre":[557,676,733],"Kalman":[559,693,735],"estimador":[565],"\u00f2ptim,":[566],"s'analitzen":[567],"implicacions":[569],"tenir":[571,612,662,678],"vector":[573,664],"d'estats":[574,665],"revisa":[577],"mesures":[581,607],"correladas.&lt;br/&gt;Es":[583],"revela":[584],"manera":[586,826],"te\u00f2rica":[587],"experiments":[590],"limitacions":[592],"d'utilitzar":[593],"enfocament":[595],"correladas.&lt;br/&gt;El":[609],"parcialment":[615,666],"observable":[616],"inhibeix":[617],"total":[620,720],"l'espai":[622,929],"d'estats,":[623],"produint":[624],"mateix":[626],"dep\u00e8n":[637],"tot":[639],"cas":[640],"inicials,":[644],"garanteix":[648],"matriu":[653],"covari\u00e0ncia":[655],"definida":[656],"positivament.&lt;br/&gt;D'altra":[657],"banda,":[658],"controlable":[667],"fa":[668,883],"que,":[669],"despr\u00e8s":[670,699],"d'iteracions":[674,703],"cregui":[677],"perfecta":[681],"l'estat":[683],"l'entorn;":[687],"corresponents":[690,821],"guanys":[691],"convergint":[694],"zero.":[696],"Per":[697],"tant,":[698],"filtre,":[705],"innovacions":[707],"s'utilitzen":[709],"m\u00e9s.":[710],"efectes":[716,1053,1063],"controlabilitat":[724,781,1058],"parcial.":[725],"A":[726,891],"m\u00e9s,":[729],"suposant":[730],"observador":[738],"\u00f2ptim":[739,751],"estats,":[745],"pertinent":[747],"construir":[748],"regulador":[750,790],"permeti":[753],"conduir":[754],"prop":[760],"possible":[761,1036],"traject\u00f2ria":[764],"desitjada":[765],"durant":[766,905],"mapa.":[770,890],"dualitat":[775],"l'observabilitat":[778,1055],"fer":[784],"disseny":[788],"d'aquest":[789],"\u00f2ptim.&lt;br/&gt;Qualsevol":[791],"robots":[801,987,1018],"m\u00f2bils":[802],"d'usar":[805],"entorn":[808],"real":[809],"ha":[810,1478],"capa\u00e7":[813],"relacionar":[815],"seus":[820],"expedita.":[827],"Algunes":[828],"costoses":[838],"complexitat":[847],"computacional,":[848],"dissenyar":[855],"atenci\u00f3.":[858],"comenten":[860],"costos":[862],"computacionals":[863],"diferents":[866],"observacions;":[871],"altres":[874],"desitjables":[876],"l'estructura":[878],"proposen":[896],"s\u00e8rie":[898],"tasques":[900],"han":[902,1366],"realitzar-se":[904],"Comen\u00e7ant":[909],"b\u00e0sic":[918],"continuant":[924],"reducci\u00f3":[927],"generen":[934],"hip\u00f2tesis":[935],"d'associaci\u00f3,":[936],"dades.&lt;br/&gt;El":[946],"treball":[947],"aquesta":[952],"noves":[955],"\u00e0rees":[958],"l'enginyera":[960],"ci\u00e8ncies":[962],"computacionals,":[963],"van":[965],"computador,":[974],"idees":[976],"novells":[977],"m\u00f2bils.":[988],"contribucions":[990],"principals":[991],"proposta":[994],"nova":[996],"t\u00e8cnica":[997],"visuals;":[1003],"formulaci\u00f3":[1005],"considera":[1020],"mapa;":[1027],"te\u00f2rics":[1030],"nivell":[1033],"construeixen":[1039],"d'observacions":[1043],"correladas;":[1045],"necess\u00e0ries":[1049],"pal\u00b7liar":[1051],"parcials,":[1059],"linealitats":[1067],"soluci\u00f3":[1070],"l'autolocalitzaci\u00f3.":[1080],"Esta":[1081,1208],"tesis":[1082],"aborda":[1083,1419],"aprendizaje":[1087],"autom\u00e1tico":[1088],"entornos":[1090,1483],"estructurados":[1091],"rob\u00f3tica":[1093,1235],"m\u00f3vil.":[1094],"Particularmente,":[1095],"extracci\u00f3n":[1097,1126],"caracter\u00edsticas":[1099,1128],"se":[1104,1156,1349,1409,1418,1443,1477],"nales":[1105],"los":[1107,1120,1145,1170,1217,1223,1331,1362,1394,1407,1436],"censores,":[1108],"construcci\u00f3n":[1110,1469],"aut\u00f3noma":[1111],"mapas,":[1113],"y":[1114,1133,1228,1243,1271,1281,1403,1415,1438,1467,1486],"autolocalizaci\u00f3n":[1116],"robots.&lt;br/&gt;Se":[1118],"estudian":[1119],"fundamentos":[1121],"matem\u00e1ticos":[1122],"necesarios":[1123],"para":[1124,1193,1320,1382,1389,1458],"im\u00e1genes":[1132,1297,1344],"registros":[1134],"l\u00e1ser,":[1137],"cuales":[1139,1224],"permiten":[1140,1273],"identificaci\u00f3n":[1142],"elementos":[1146,1171,1332,1363,1396],"entorno.":[1148,1398],"Los":[1149],"atributos":[1150],"extra\u00eddos":[1151,1368],"nal":[1157],"solo":[1160],"pueden":[1162,1225,1293],"insuficientes":[1164],"hora":[1167],"caracterizar":[1169],"entorno":[1173,1365],"invariante;":[1176],"lo":[1177,1335],"conlleva":[1179],"combinaci\u00f3n":[1182],"informaci\u00f3n":[1184,1197,1211],"fuentes.":[1187],"Se":[1188,1307],"nuevo":[1191],"algoritmo":[1192],"fusi\u00f3n":[1195,1209],"extra\u00edda":[1199],"m\u00f3dulos":[1202],"visi\u00f3n":[1204,1253],"bajo":[1206],"nivel.":[1207],"produce":[1212],"descripciones":[1213],"m\u00e1s":[1214,1492],"completas":[1215],"objetos":[1218],"presentes":[1219],"entorno,":[1222,1334],"seguidos":[1227],"aprendidos":[1229],"contexto":[1232],"m\u00f3vil.&lt;br/&gt;Las":[1236],"variaciones":[1237],"condiciones":[1240],"iluminaci\u00f3n":[1242],"oclusiones":[1245],"hacen":[1246],"asociaci\u00f3n":[1249,1304],"datos":[1251],"por":[1254],"sea":[1256],"tarea":[1258],"llevar":[1261],"cabo.":[1263],"Sin":[1264],"embargo,":[1265],"uso":[1267,1453,1481],"restricciones":[1269],"geom\u00e9tricas":[1270],"fotogram\u00e9tricas":[1272],"reducir":[1274],"b\u00fasqueda":[1276],"correspondencias":[1278],"im\u00e1genes;":[1280],"atenci\u00f3n":[1285],"reducido":[1288],"n\u00famero":[1289],"caracter\u00edsticas,":[1291],"estas":[1292,1379],"seguidas":[1295],"sucesivas,":[1298],"simplificando":[1299],"as\u00ed":[1300],"datos.":[1306],"hace":[1308],"hincapi\u00e9":[1309],"t\u00e9cnicas":[1312,1455],"geometr\u00eda":[1315],"vistas":[1318],"relevantes":[1319],"c\u00f3mputo":[1322,1460],"estimaci\u00f3n":[1325,1392,1457],"posici\u00f3n":[1329,1385,1464],"cual":[1336],"permite":[1337],"reconstrucci\u00f3n":[1339],"movimiento&lt;br/&gt;del":[1341],"sucesivas;":[1345],"situaci\u00f3n":[1346],"deseable":[1347],"cuando":[1348,1354],"carece":[1350],"odometr\u00eda":[1352],"sus":[1355],"lecturas":[1356,1405],"son":[1357],"poco":[1358],"fiables.&lt;br/&gt;Una":[1359],"vez":[1360],"sido":[1367],"e":[1369],"identificados,":[1370],"segunda":[1372],"parte":[1373],"consiste":[1376],"usar":[1378],"observaciones":[1380],"tanto":[1381],"como":[1388,1411,1445],"mismos":[1395],"movimiento":[1400,1440],"sensores":[1408,1437],"consideran":[1410,1444],"procesos":[1413],"estoc\u00e1sticos,":[1414],"desde":[1420],"punto":[1422],"teor\u00eda":[1427],"estimaci\u00f3n,":[1429],"donde":[1431],"ruido":[1433],"inherente":[1434],"secuencias":[1446],"aleatorias.&lt;br/&gt;La":[1447],"desventaja":[1449],"existente":[1450],"concurrente":[1461],"hasta":[1475],"ahora":[1476],"considerado":[1479],"su":[1480,1488],"est\u00e1ticos":[1484],"\u00fanicamente,":[1485],"aplicaci\u00f3n":[1489],"situaciones":[1491],"realistas":[1493]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2023-07-26T00:00:00"}
