{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T02:15:06Z","timestamp":1768529706054,"version":"3.49.0"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,12,26]],"date-time":"2017-12-26T00:00:00Z","timestamp":1514246400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2019,3]]},"DOI":"10.1007\/s10846-017-0763-7","type":"journal-article","created":{"date-parts":[[2017,12,26]],"date-time":"2017-12-26T08:17:07Z","timestamp":1514276227000},"page":"519-532","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Non-Linear Least Squares Approach to SLAM using a Dynamic Likelihood Field"],"prefix":"10.1007","volume":"93","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7954-9922","authenticated-orcid":false,"given":"Eurico","family":"Pedrosa","sequence":"first","affiliation":[]},{"given":"Artur","family":"Pereira","sequence":"additional","affiliation":[]},{"given":"Nuno","family":"Lau","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,12,26]]},"reference":[{"key":"763_CR1","doi-asserted-by":"crossref","unstructured":"Bennewitz, M., Stachniss, C., Behnke, S., Burgard, W.: Utilizing reflection properties of surfaces to improve mobile robot localization. In: 2009 IEEE International Conference on Robotics and Automation, pp. 4287\u20134292. Kobe, Japan (2009)","DOI":"10.1109\/ROBOT.2009.5152186"},{"key":"763_CR2","doi-asserted-by":"crossref","unstructured":"Biber, P., Strasser, W.: The normal distributions transform: a new approach to laser scan matching. In: Intelligent Robots and Systems, 2003. (IROS 2003)., pp. 2743\u20132748 vol. 3. IEEE, Las Vegas, USA (2003)","DOI":"10.1109\/IROS.2003.1249285"},{"issue":"1","key":"763_CR3","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1147\/sj.41.0025","volume":"4","author":"JE Bresenham","year":"1965","unstructured":"Bresenham, J.E.: Algorithm for computer control of a digital plotter. IBM Syst. J. 4(1), 25\u201330 (1965)","journal-title":"IBM Syst. J."},{"issue":"4","key":"763_CR4","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1007\/s10514-009-9108-0","volume":"26","author":"A Burguera","year":"2009","unstructured":"Burguera, A., Gonz\u00e1lez, Y., Oliver, G.: On the use of likelihood fields to perform sonar scan matching localization. Auton. Robot. 26(4), 203\u2013222 (2009)","journal-title":"Auton. Robot."},{"issue":"1","key":"763_CR5","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/j.robot.2006.06.005","volume":"55","author":"J Castellanos","year":"2007","unstructured":"Castellanos, J., Martinez-Cantin, R., Tard\u00f3s, J., Neira, J.: Robocentric map joining: improving the consistency of EKF-SLAM. Robot. Auton. Syst. 55(1), 21\u201329 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"763_CR6","doi-asserted-by":"crossref","unstructured":"Castellanos, J.A., Tardos, J.D., Schmidt, G.: Building a Global Map of the Environment of a Mobile Robot: The Importance of Correlations. In: Proceedings of International Conference on Robotics and Automation, vol. 2, pp. 1053\u20131059. New Mexico, USA (1997)","DOI":"10.1109\/ROBOT.1997.614274"},{"key":"763_CR7","doi-asserted-by":"crossref","unstructured":"Censi, A.: An ICP variant using a point-to-line metric. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), pp. 19\u201325. Pasadena, CA, USA (2008)","DOI":"10.1109\/ROBOT.2008.4543181"},{"key":"763_CR8","volume-title":"Distance transforms of sampled functions. Tech. Rep.","author":"P Felzenszwalb","year":"2004","unstructured":"Felzenszwalb, P., Huttenlocher, D.: Distance transforms of sampled functions. Tech. Rep. Cornell University, New York (2004)"},{"issue":"1","key":"763_CR9","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/TRO.2006.889486","volume":"23","author":"G Grisetti","year":"2007","unstructured":"Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robot. 23(1), 34\u201346 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"763_CR10","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Stachniss, C., Grzonka, S., Burgard, W.: A tree parameterization for efficiently computing maximum likelihood maps using gradient descent. In: Proceedings of Robotics: Science and Systems (RSS). Atlanta, USA (2007)","DOI":"10.15607\/RSS.2007.III.009"},{"key":"763_CR11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-13467-3","volume-title":"Lie groups, lie algebras, and representations: an elementary introduction, vol. 222","author":"B Hall","year":"2015","unstructured":"Hall, B.: Lie groups, lie algebras, and representations: an elementary introduction, vol. 222. Springer, Berlin (2015)"},{"key":"763_CR12","volume-title":"A Framework for Sparse, Non-Linear Least Squares Problems on Manifolds. Master\u2019s thesis","author":"C Hertzberg","year":"2008","unstructured":"Hertzberg, C.: A Framework for Sparse, Non-Linear Least Squares Problems on Manifolds. Master\u2019s thesis. Universit\u00e4t Bremen, Germany (2008)"},{"key":"763_CR13","doi-asserted-by":"crossref","unstructured":"Holz, D., Behnke, S.: Sancta Simplicitas - On the efficiency and achievable results of SLAM using ICP-based Incremental Registration. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), pp. 1380\u20131387. Alaska, USA (2010)","DOI":"10.1109\/ROBOT.2010.5509918"},{"key":"763_CR14","unstructured":"Howard, A., Roy, N.: The robotics data set repository (Radish). radish.sourceforge.net (2003)"},{"key":"763_CR15","doi-asserted-by":"crossref","unstructured":"Jesus, F., Ventura, R.: Combining Monocular And Stereo Vision In 6D-SLAM for The Localization of a Tracked Wheel Robot. In: 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1\u20136. Texas, USA (2012)","DOI":"10.1109\/SSRR.2012.6523876"},{"key":"763_CR16","doi-asserted-by":"crossref","unstructured":"Kohlbrecher, S., von Stryk, O., Meyer, J., Klingauf, U.: A Flexible and Scalable SLAM System with Full 3D Motion Estimation. In: Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 155\u2013160. Kyoto, Japan (2011)","DOI":"10.1109\/SSRR.2011.6106777"},{"issue":"4","key":"763_CR17","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1007\/s10514-009-9155-6","volume":"27","author":"R K\u00fcmmerle","year":"2009","unstructured":"K\u00fcmmerle, R., Steder, B., Dornhege, C., Ruhnke, M., Grisetti, G., Stachniss, C., Kleiner, A.: On measuring the accuracy of SLAM algorithms. Auton. Robot. 27(4), 387\u2013407 (2009)","journal-title":"Auton. Robot."},{"issue":"10","key":"763_CR18","doi-asserted-by":"publisher","first-page":"1116","DOI":"10.1016\/j.robot.2012.08.010","volume":"61","author":"B Lau","year":"2013","unstructured":"Lau, B., Sprunk, C., Burgard, W.: Efficient grid-based spatial representations for robot navigation in dynamic environments. Robot. Auton. Syst. 61(10), 1116\u20131130 (2013)","journal-title":"Robot. Auton. Syst."},{"key":"763_CR19","doi-asserted-by":"crossref","unstructured":"Lee, J.M.: Smooth manifolds. In: Introduction to Smooth Manifolds, pp. 1\u201329. Springer (2003)","DOI":"10.1007\/978-0-387-21752-9_1"},{"issue":"4","key":"763_CR20","doi-asserted-by":"publisher","first-page":"333","DOI":"10.1023\/A:1008854305733","volume":"4","author":"F Lu","year":"1997","unstructured":"Lu, F., Milios, E.: Globally consistent range scan alignment for environment mapping. Auton. Robot. 4 (4), 333\u2013349 (1997)","journal-title":"Auton. Robot."},{"issue":"3","key":"763_CR21","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1023\/A:1007957421070","volume":"18","author":"F Lu","year":"1997","unstructured":"Lu, F., Milios, E.: Robot pose estimation in unknown environments by matching 2D range scans. J. Intell. Robot. Syst. 18(3), 249\u2013275 (1997)","journal-title":"J. Intell. Robot. Syst."},{"key":"763_CR22","unstructured":"Madsen, K., Bruun, H., Tingleff, O.: Methods for non-linear least squares problems. Tech. rep., Informatics and Mathematical Modelling. Technical University of Denmark, Denmark (2004)"},{"key":"763_CR23","doi-asserted-by":"crossref","unstructured":"Montemerlo, M., Thrun, S.: Simultaneous Localization and Mapping With Unknown Data Association Using FastSLAM. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), vol. 2, pp. 1985\u20131991 (2003)","DOI":"10.1109\/ROBOT.2003.1241885"},{"key":"763_CR24","doi-asserted-by":"crossref","unstructured":"Montesano, L., Minguez, J., Montano, L.: Probabilistic scan matching for motion estimation in unstructured environments. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3499\u20133504 (2005)","DOI":"10.1109\/IROS.2005.1545182"},{"issue":"2","key":"763_CR25","first-page":"61","volume":"9","author":"HP Moravec","year":"1988","unstructured":"Moravec, H.P.: Sensor fusion in certainty grids for mobile robots. AI Mag. 9(2), 61 (1988)","journal-title":"AI Mag."},{"issue":"6","key":"763_CR26","doi-asserted-by":"publisher","first-page":"890","DOI":"10.1109\/70.976019","volume":"17","author":"J Neira","year":"2001","unstructured":"Neira, J., Tardos, J.: Data association in stochastic mapping using the joint compatibility test. IEEE Trans. Robot. Autom. 17(6), 890\u2013897 (2001)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"763_CR27","doi-asserted-by":"crossref","unstructured":"Olson, E.B.: Real-Time Correlative Scan Matching. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), pp. 4387\u20134393. Kobe, Japan (2009)","DOI":"10.1109\/ROBOT.2009.5152375"},{"key":"763_CR28","doi-asserted-by":"crossref","unstructured":"Pfister, S.T., Kriechbaum, K.L., Roumeliotis, S.I., Burdick, J.W.: Weighted range sensor matching algorithms for mobile robot displacement estimation. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), vol. 2, pp. 1667\u20131674. Washington, DC, USA (2002)","DOI":"10.1109\/ROBOT.2002.1014782"},{"key":"763_CR29","doi-asserted-by":"crossref","unstructured":"Platinsky, L., Davison, A.J., Leutenegger, S.: Monocular Visual Odometry: Sparse Joint Optimisation or Dense Alternation?. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5126\u20135133 (2017)","DOI":"10.1109\/ICRA.2017.7989599"},{"issue":"4","key":"763_CR30","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1177\/027836498600500404","volume":"5","author":"RC Smith","year":"1986","unstructured":"Smith, R.C., Cheeseman, P.: On the representation and estimation of spatial uncertainty. Int. J. Robot. Res. 5(4), 56\u201368 (1986)","journal-title":"Int. J. Robot. Res."},{"key":"763_CR31","doi-asserted-by":"crossref","unstructured":"Stachniss, C., Leonard, J.J., Thrun, S.: Simultaneous Localization and Mapping. In: Siciliano, B., Khatib, O. (eds.) Springer Handproceedings of Robotics, pp. 1153\u20131176. Springer International Publishing, Cham (2016)","DOI":"10.1007\/978-3-319-32552-1_46"},{"issue":"5","key":"763_CR32","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1177\/02783640122067435","volume":"20","author":"S Thrun","year":"2001","unstructured":"Thrun, S.: A probabilistic on-line mapping algorithm for teams of mobile robots. Int. J. Robot. Res. 20(5), 335\u2013363 (2001)","journal-title":"Int. J. Robot. Res."},{"key":"763_CR33","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic robotics, vol. 1. MIT Press, Cambridge (2005)"},{"key":"763_CR34","doi-asserted-by":"crossref","unstructured":"Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment \u2014 a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) Vision Algorithms: Theory and Practice, Lecture Notes in Computer Science, vol. 1883, pp. 298\u2013372. Springer Berlin Heidelberg (2000)","DOI":"10.1007\/3-540-44480-7_21"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0763-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0763-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0763-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,8]],"date-time":"2019-10-08T14:15:24Z","timestamp":1570544124000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0763-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,26]]},"references-count":34,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2019,3]]}},"alternative-id":["763"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0763-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,12,26]]},"assertion":[{"value":"30 September 2016","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 December 2017","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 December 2017","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}