{"id":"https://openalex.org/W1980074099","doi":"https://doi.org/10.1109/iros.2005.1545002","title":"Unscented SLAM for large-scale outdoor environments","display_name":"Unscented SLAM for large-scale outdoor environments","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1980074099","doi":"https://doi.org/10.1109/iros.2005.1545002","mag":"1980074099"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545002","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://webdiis.unizar.es/~rmcantin/papers/Martinez-Cantin05IROS.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049372967","display_name":"Rub\u00e9n Mart\u00ednez-Cant\u00edn","orcid":"https://orcid.org/0000-0002-6741-844X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"funder","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Martinez-Cantin","raw_affiliation_strings":["Dept. Informatica e Ingenieria, Univ. de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Dept. Informatica e Ingenieria, Univ. de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038670897","display_name":"Jos\u00e9 A. Castellanos","orcid":"https://orcid.org/0000-0001-5977-8720"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"funder","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.A. Castellanos","raw_affiliation_strings":["Dept. Informatica e Ingenieria, Univ. de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Dept. Informatica e Ingenieria, Univ. de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.309,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":130,"citation_normalized_percentile":{"value":0.971713,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3427","last_page":"3432"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9967,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7551896},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.6847109},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.5323104}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7608688},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7551896},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.6847109},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6813163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.59397984},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5890641},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.56523734},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5514855},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.5371509},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.5323104},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.51894236},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.484821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40447047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35717088},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.27825642},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2298317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18056592},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16779718},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545002","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.59.9173","pdf_url":"http://webdiis.unizar.es/~rmcantin/papers/Martinez-Cantin05IROS.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.59.9173","pdf_url":"http://webdiis.unizar.es/~rmcantin/papers/Martinez-Cantin05IROS.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.66,"id":"https://metadata.un.org/sdg/9"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1252691739","https://openalex.org/W149678152","https://openalex.org/W1520710862","https://openalex.org/W1531532259","https://openalex.org/W1569943423","https://openalex.org/W1606157100","https://openalex.org/W1977464512","https://openalex.org/W1984980826","https://openalex.org/W2087435860","https://openalex.org/W2097485728","https://openalex.org/W2099371695","https://openalex.org/W2107802551","https://openalex.org/W2109513571","https://openalex.org/W2111295154","https://openalex.org/W2121990344","https://openalex.org/W2123487311","https://openalex.org/W2133464237","https://openalex.org/W2143864104","https://openalex.org/W2148916113","https://openalex.org/W2149275380","https://openalex.org/W2727085722","https://openalex.org/W4251824448","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4206622494","https://openalex.org/W2966342863","https://openalex.org/W2390558238","https://openalex.org/W2384346100","https://openalex.org/W2275886096","https://openalex.org/W2125308530","https://openalex.org/W2099544223","https://openalex.org/W2034836143","https://openalex.org/W1981991040","https://openalex.org/W1541079531"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"experimentally":[4],"validated":[5],"alternative":[6],"to":[7,14,38,58,93],"the":[8,15,18,31,39,42,47,51,60,69,76,84,89],"classical":[9,35],"extended":[10],"Kalman":[11],"filter":[12],"approach":[13,36,52,92],"solution":[16],"of":[17,33,41,46,67,88],"probabilistic":[19],"state-space":[20],"simultaneous":[21],"localization":[22],"and":[23,71,86],"mapping":[24],"(SLAM)":[25],"problem.":[26,49],"Several":[27],"authors":[28],"have":[29],"reported":[30],"divergence":[32],"this":[34,55],"due":[37],"linearization":[40,62],"inherent":[43],"nonlinear":[44],"nature":[45],"SLAM":[48,91],"Hence,":[50],"described":[53],"in":[54],"work":[56],"aims":[57],"avoid":[59],"analytical":[61],"based":[63],"on":[64],"Taylor-series":[65],"expansion":[66],"both":[68],"model":[70],"measurement":[72],"equations":[73],"by":[74],"using":[75],"unscented":[77,90],"filter.":[78],"An":[79],"innovation-based":[80],"consistency":[81],"checking":[82],"validates":[83],"feasibility":[85],"applicability":[87],"a":[94],"real":[95],"large-scale":[96],"outdoor":[97],"exploration":[98],"mission.":[99]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1980074099","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":7}],"updated_date":"2025-04-16T03:47:07.718095","created_date":"2016-06-24"}