Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2064169939', 'doi': 'https://doi.org/10.1177/0278364906072768', 'title': 'Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing', 'display_name': 'Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing', 'publication_year': 2006, 'publication_date': '2006-11-13', 'ids': {'openalex': 'https://openalex.org/W2064169939', 'doi': 'https://doi.org/10.1177/0278364906072768', 'mag': '2064169939'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1177/0278364906072768', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S73484101', 'display_name': 'The International Journal of Robotics Research', 'issn_l': '0278-3649', 'issn': ['0278-3649', '1741-3176'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310320017', 'host_organization_name': 'SAGE Publishing', 'host_organization_lineage': ['https://openalex.org/P4310320017'], 'host_organization_lineage_names': ['SAGE Publishing'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': True, 'oa_status': 'green', 'oa_url': 'http://repository.gatech.edu/bitstreams/3821bd22-f514-490d-b1b5-a02b23deafef/download', 'any_repository_has_fulltext': True}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5087336025', 'display_name': 'Frank Dellaert', 'orcid': 'https://orcid.org/0000-0002-5532-3566'}, 'institutions': [{'id': 'https://openalex.org/I130701444', 'display_name': 'Georgia Institute of Technology', 'ror': 'https://ror.org/01zkghx44', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I130701444']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'Frank Dellaert', 'raw_affiliation_strings': ['Center for Robotics and Intelligent Machines, College of Computing, Georgia Institute of Technology, Atlanta, GA 30332-0280,'], 'affiliations': [{'raw_affiliation_string': 'Center for Robotics and Intelligent Machines, College of Computing, Georgia Institute of Technology, Atlanta, GA 30332-0280,', 'institution_ids': ['https://openalex.org/I130701444']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5014216861', 'display_name': 'Michael Kaess', 'orcid': 'https://orcid.org/0000-0002-7590-3357'}, 'institutions': [{'id': 'https://openalex.org/I130701444', 'display_name': 'Georgia Institute of Technology', 'ror': 'https://ror.org/01zkghx44', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I130701444']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'Michael Kaess', 'raw_affiliation_strings': ['Center for Robotics and Intelligent Machines, College of Computing, Georgia Institute of Technology, Atlanta, GA 30332-0280,'], 'affiliations': [{'raw_affiliation_string': 'Center for Robotics and Intelligent Machines, College of Computing, Georgia Institute of Technology, Atlanta, GA 30332-0280,', 'institution_ids': ['https://openalex.org/I130701444']}]}], 'institution_assertions': [], 'countries_distinct_count': 1, 'institutions_distinct_count': 1, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 45.875, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 883, 'citation_normalized_percentile': {'value': 0.999932, 'is_in_top_1_percent': True, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 99, 'max': 100}, 'biblio': {'volume': '25', 'issue': '12', 'first_page': '1181', 'last_page': '1203'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T10191', 'display_name': 'Robotics and Sensor-Based Localization', 'score': 0.9999, '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': 0.9999, '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': 0.9994, '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/T11192', 'display_name': 'Underwater Vehicles and Communication Systems', 'score': 0.9992, '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/smoothing', 'display_name': 'Smoothing', 'score': 0.6551979}, {'id': 'https://openalex.org/keywords/square-root', 'display_name': 'Square root', 'score': 0.622009}, {'id': 'https://openalex.org/keywords/heuristics', 'display_name': 'Heuristics', 'score': 0.49747208}], 'concepts': [{'id': 'https://openalex.org/C86369673', 'wikidata': 'https://www.wikidata.org/wiki/Q1203659', 'display_name': 'Simultaneous localization and mapping', 'level': 4, 'score': 0.8204138}, {'id': 'https://openalex.org/C206833254', 'wikidata': 'https://www.wikidata.org/wiki/Q5421817', 'display_name': 'Extended Kalman filter', 'level': 3, 'score': 0.7141108}, {'id': 'https://openalex.org/C3770464', 'wikidata': 'https://www.wikidata.org/wiki/Q775963', 'display_name': 'Smoothing', 'level': 2, 'score': 0.6551979}, {'id': 'https://openalex.org/C11577676', 'wikidata': 'https://www.wikidata.org/wiki/Q134237', 'display_name': 'Square root', 'level': 2, 'score': 0.622009}, {'id': 'https://openalex.org/C200331156', 'wikidata': 'https://www.wikidata.org/wiki/Q506041', 'display_name': 'Jacobian matrix and determinant', 'level': 2, 'score': 0.5362375}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.51777256}, {'id': 'https://openalex.org/C127705205', 'wikidata': 'https://www.wikidata.org/wiki/Q5748245', 'display_name': 'Heuristics', 'level': 2, 'score': 0.49747208}, {'id': 'https://openalex.org/C157286648', 'wikidata': 'https://www.wikidata.org/wiki/Q846780', 'display_name': 'Kalman filter', 'level': 2, 'score': 0.42344943}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.3966272}, {'id': 'https://openalex.org/C126255220', 'wikidata': 'https://www.wikidata.org/wiki/Q141495', 'display_name': 'Mathematical optimization', 'level': 1, 'score': 0.37474936}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.36858058}, {'id': 'https://openalex.org/C11413529', 'wikidata': 'https://www.wikidata.org/wiki/Q8366', 'display_name': 'Algorithm', 'level': 1, 'score': 0.36729866}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.3659292}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.26263738}, {'id': 'https://openalex.org/C31972630', 'wikidata': 'https://www.wikidata.org/wiki/Q844240', 'display_name': 'Computer vision', 'level': 1, 'score': 0.2306841}, {'id': 'https://openalex.org/C2524010', 'wikidata': 'https://www.wikidata.org/wiki/Q8087', 'display_name': 'Geometry', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C28826006', 'wikidata': 'https://www.wikidata.org/wiki/Q33521', 'display_name': 'Applied mathematics', 'level': 1, 'score': 0.0}], 'mesh': [], 'locations_count': 3, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1177/0278364906072768', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S73484101', 'display_name': 'The International Journal of Robotics Research', 'issn_l': '0278-3649', 'issn': ['0278-3649', '1741-3176'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310320017', 'host_organization_name': 'SAGE Publishing', 'host_organization_lineage': ['https://openalex.org/P4310320017'], 'host_organization_lineage_names': ['SAGE Publishing'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'https://hdl.handle.net/1853/8348', 'pdf_url': 'http://repository.gatech.edu/bitstreams/3821bd22-f514-490d-b1b5-a02b23deafef/download', 'source': {'id': 'https://openalex.org/S4377196313', 'display_name': 'SMARTech Repository (Georgia Institute of Technology)', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I130701444', 'host_organization_name': 'Georgia Institute of Technology', 'host_organization_lineage': ['https://openalex.org/I130701444'], 'host_organization_lineage_names': ['Georgia Institute of Technology'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'https://hdl.handle.net/1853/38684', 'pdf_url': 'http://repository.gatech.edu/bitstreams/79bf01d3-d7a3-4561-9300-05ca29ca851c/download', 'source': {'id': 'https://openalex.org/S4377196313', 'display_name': 'SMARTech Repository (Georgia Institute of Technology)', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I130701444', 'host_organization_name': 'Georgia Institute of Technology', 'host_organization_lineage': ['https://openalex.org/I130701444'], 'host_organization_lineage_names': ['Georgia Institute of Technology'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}], 'best_oa_location': {'is_oa': True, 'landing_page_url': 'https://hdl.handle.net/1853/8348', 'pdf_url': 'http://repository.gatech.edu/bitstreams/3821bd22-f514-490d-b1b5-a02b23deafef/download', 'source': {'id': 'https://openalex.org/S4377196313', 'display_name': 'SMARTech Repository (Georgia Institute of Technology)', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I130701444', 'host_organization_name': 'Georgia Institute of Technology', 'host_organization_lineage': ['https://openalex.org/I130701444'], 'host_organization_lineage_names': ['Georgia Institute of Technology'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}, 'sustainable_development_goals': [], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 101, 'referenced_works': ['https://openalex.org/W126946642', 'https://openalex.org/W142685375', 'https://openalex.org/W1488766761', 'https://openalex.org/W1489258026', 'https://openalex.org/W1490670270', 'https://openalex.org/W1511332864', 'https://openalex.org/W1513861746', 'https://openalex.org/W1523764397', 'https://openalex.org/W1550772144', 'https://openalex.org/W1556413902', 'https://openalex.org/W1556694669', 'https://openalex.org/W1559536185', 'https://openalex.org/W1569860429', 'https://openalex.org/W1583894665', 'https://openalex.org/W1586173270', 'https://openalex.org/W1599888605', 'https://openalex.org/W1606157100', 'https://openalex.org/W1650765400', 'https://openalex.org/W1656165940', 'https://openalex.org/W1786620475', 'https://openalex.org/W1812589429', 'https://openalex.org/W186419298', 'https://openalex.org/W1891947214', 'https://openalex.org/W1937083578', 'https://openalex.org/W1977464512', 'https://openalex.org/W1981152249', 'https://openalex.org/W1981745143', 'https://openalex.org/W1990012555', 'https://openalex.org/W199146695', 'https://openalex.org/W2007635681', 'https://openalex.org/W2014730252', 'https://openalex.org/W2026805101', 'https://openalex.org/W2028310195', 'https://openalex.org/W2033819227', 'https://openalex.org/W2038643780', 'https://openalex.org/W2042350528', 'https://openalex.org/W2043807582', 'https://openalex.org/W2049064539', 'https://openalex.org/W2050324476', 'https://openalex.org/W2050448951', 'https://openalex.org/W2061210828', 'https://openalex.org/W2068484625', 'https://openalex.org/W2085644402', 'https://openalex.org/W2098678088', 'https://openalex.org/W2101914010', 'https://openalex.org/W2101938294', 'https://openalex.org/W2104181141', 'https://openalex.org/W2107859853', 'https://openalex.org/W2109513571', 'https://openalex.org/W2111295154', 'https://openalex.org/W2112793821', 'https://openalex.org/W2113280143', 'https://openalex.org/W2113679823', 'https://openalex.org/W2117354270', 'https://openalex.org/W2118429180', 'https://openalex.org/W2124313187', 'https://openalex.org/W2125312652', 'https://openalex.org/W2133048394', 'https://openalex.org/W2137658800', 'https://openalex.org/W2137813581', 'https://openalex.org/W2143864104', 'https://openalex.org/W2145265734', 'https://openalex.org/W2148228392', 'https://openalex.org/W2148820580', 'https://openalex.org/W2148916113', 'https://openalex.org/W2149895934', 'https://openalex.org/W2150543678', 'https://openalex.org/W2152422184', 'https://openalex.org/W2155537009', 'https://openalex.org/W2156300606', 'https://openalex.org/W2156561799', 'https://openalex.org/W2160430037', 'https://openalex.org/W2162197665', 'https://openalex.org/W2165746885', 'https://openalex.org/W2167797964', 'https://openalex.org/W2168210109', 'https://openalex.org/W2170884176', 'https://openalex.org/W2173782939', 'https://openalex.org/W2177031017', 'https://openalex.org/W21877', 'https://openalex.org/W2248137274', 'https://openalex.org/W2336416123', 'https://openalex.org/W2483907169', 'https://openalex.org/W2513786335', 'https://openalex.org/W2516013240', 'https://openalex.org/W2610184409', 'https://openalex.org/W2725922920', 'https://openalex.org/W2798909945', 'https://openalex.org/W3021282624', 'https://openalex.org/W3143919370', 'https://openalex.org/W3196769885', 'https://openalex.org/W4205423437', 'https://openalex.org/W4210700398', 'https://openalex.org/W4213173876', 'https://openalex.org/W4232848613', 'https://openalex.org/W4249512798', 'https://openalex.org/W4285719527', 'https://openalex.org/W4298563212', 'https://openalex.org/W50439157', 'https://openalex.org/W74453616', 'https://openalex.org/W96557935'], 'related_works': ['https://openalex.org/W2980755614', 'https://openalex.org/W2467646110', 'https://openalex.org/W2415692232', 'https://openalex.org/W2125308530', 'https://openalex.org/W2124886850', 'https://openalex.org/W2122489470', 'https://openalex.org/W2086059115', 'https://openalex.org/W2034836143', 'https://openalex.org/W1981991040', 'https://openalex.org/W1541079531'], 'abstract_inverted_index': {'Solving': [0], 'the': [1, 41, 53, 58, 72, 102, 129, 133, 137, 143, 157, 162, 179], 'SLAM': [2, 114, 138, 163, 170], '(simultaneous': [3], 'localization': [4], 'and': [5, 18, 97, 100, 168], 'mapping)': [6], 'problem': [7], 'is': [8], 'one': [9], 'way': [10], 'to': [11, 15, 34, 40, 92, 187], 'enable': [12], 'a': [13, 21, 31, 110], 'robot': [14, 104], 'explore,': [16], 'map,': [17], 'navigate': [19], 'in': [20, 83, 118, 132, 154, 172], 'previously': [22], 'unknown': [23], 'environment.': [24], 'Smoothing': [25], 'approaches': [26, 45], 'have': [27, 46, 67], 'been': [28, 47], 'investigated': [29], 'as': [30, 184], 'viable': [32], 'alternative': [33, 186], 'extended': [35], 'Kalman': [36], 'filter': [37], '(EKF)-based': [38], 'solutions': [39], 'problem.': [42, 139, 164], 'In': [43, 116], 'particular,': [44], 'looked': [48], 'at': [49, 106], 'that': [50, 177], 'factorize': [51], 'either': [52, 84], 'associated': [54, 160], 'information': [55], 'matrix': [56], 'or': [57, 86], 'measurement': [59, 98], 'Jacobian': [60], 'into': [61], 'square': [62], 'root': [63], 'form.': [64], 'Such': [65], 'techniques': [66], 'several': [68], 'significant': [69], 'advantages': [70], 'over': [71], 'EKF:': [73], 'they': [74, 79], 'are': [75, 89, 175], 'faster': [76], 'yet': [77], 'exact;': [78], 'can': [80], 'be': [81], 'used': [82], 'batch': [85], 'incremental': [87], 'mode;': [88], 'better': [90], 'equipped': [91], 'deal': [93], 'with': [94, 149, 161], 'non-linear': [95], 'process': [96], 'models;': [99], 'yield': [101], 'entire': [103], 'trajectory,': [105], 'lower': [107], 'cost': [108], 'for': [109], 'large': [111], 'class': [112], 'of': [113, 136, 152, 156, 181], 'problems.': [115], 'addition,': [117], 'an': [119, 150, 185], 'indirect': [120], 'but': [121], 'dramatic': [122], 'way,': [123], 'column': [124], 'ordering': [125], 'heuristics': [126], 'automatically': [127], 'exploit': [128], 'locality': [130], 'inherent': [131], 'geographic': [134], 'nature': [135], 'This': [140], 'paper': [141], 'presents': [142], 'theory': [144], 'underlying': [145], 'these': [146, 182], 'methods,': [147], 'along': [148], 'interpretation': [151], 'factorization': [153], 'terms': [155], 'graphical': [158], 'model': [159], 'Both': [165], 'simulation': [166], 'results': [167], 'actual': [169], 'experiments': [171], 'large-scale': [173], 'environments': [174], 'presented': [176], 'underscore': [178], 'potential': [180], 'methods': [183], 'EKF-based': [188], 'approaches.': [189]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2064169939', 'counts_by_year': [{'year': 2024, 'cited_by_count': 20}, {'year': 2023, 'cited_by_count': 37}, {'year': 2022, 'cited_by_count': 41}, {'year': 2021, 'cited_by_count': 54}, {'year': 2020, 'cited_by_count': 44}, {'year': 2019, 'cited_by_count': 61}, {'year': 2018, 'cited_by_count': 68}, {'year': 2017, 'cited_by_count': 67}, {'year': 2016, 'cited_by_count': 65}, {'year': 2015, 'cited_by_count': 78}, {'year': 2014, 'cited_by_count': 64}, {'year': 2013, 'cited_by_count': 60}, {'year': 2012, 'cited_by_count': 50}], 'updated_date': '2024-12-18T05:23:47.147270', 'created_date': '2016-06-24'}