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In this work, improved particle filter using geometric relation between particles is proposed to restrain particle depletion and to reduce estimation errors and error variances. It uses a KD tree (<jats:italic>k<\/jats:italic>-dimensional tree) to derive geometric relation among particles and filters particles with importance weight conditions for resampling. Compared to the original particle filter used in FastSLAM, this technique showed less estimation error with lower error standard deviation in computer simulations.<\/jats:p>","DOI":"10.1017\/s0263574708005250","type":"journal-article","created":{"date-parts":[[2009,1,6]],"date-time":"2009-01-06T14:33:30Z","timestamp":1231252410000},"page":"853-859","source":"Crossref","is-referenced-by-count":22,"title":["Improved particle fusing geometric relation between particles in FastSLAM"],"prefix":"10.1017","volume":"27","author":[{"given":"Inkyu","family":"Kim","sequence":"first","affiliation":[]},{"given":"Nosan","family":"Kwak","sequence":"additional","affiliation":[]},{"given":"Heoncheol","family":"Lee","sequence":"additional","affiliation":[]},{"given":"Beomhee","family":"Lee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,1,6]]},"reference":[{"key":"S0263574708005250_ref5","doi-asserted-by":"crossref","unstructured":"5. Montemerlo M. and Thrun S. , \u201cSimultaneous Localization and Mapping with Unknown Data Association using FastSLAM,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (Taipei, 2003) pp. 1985\u20131991.","DOI":"10.1109\/ROBOT.2003.1241885"},{"volume-title":"Proceedings of the 2000 Conference on Uncertainty in Artificial Intelligence","year":"2000","author":"Doucet","key":"S0263574708005250_ref3"},{"key":"S0263574708005250_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.007"},{"key":"S0263574708005250_ref6","first-page":"424","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Bailey","year":"2006"},{"volume-title":"Technical Report CUED\/F INFENG\/TR","year":"2000","author":"Merwe","key":"S0263574708005250_ref8"},{"key":"S0263574708005250_ref13","doi-asserted-by":"publisher","DOI":"10.1117\/12.364025"},{"key":"S0263574708005250_ref16","first-page":"395","volume-title":"Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems","author":"Lee","year":"2006"},{"key":"S0263574708005250_ref11","doi-asserted-by":"publisher","DOI":"10.1049\/ip-f-2.1993.0015"},{"key":"S0263574708005250_ref12","first-page":"630","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kwak","year":"2007"},{"key":"S0263574708005250_ref2","unstructured":"2. Montemerlo M. , FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem With Unknown Data Association Ph.D. Thesis (Carnegie Mellon University, Pittsburgh, PA, 2003)."},{"key":"S0263574708005250_ref7","doi-asserted-by":"publisher","DOI":"10.1155\/S1110865704405149"},{"volume-title":"Probabilistic Robotics","year":"2005","author":"Thrun","key":"S0263574708005250_ref1"},{"key":"S0263574708005250_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003773"},{"key":"S0263574708005250_ref9","first-page":"1564","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Elinas","year":"2006"},{"key":"S0263574708005250_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03427-9"},{"key":"S0263574708005250_ref10","first-page":"859","volume-title":"Proceedings of the American Association for Artificial Intelligence","author":"Thrun","year":"2000"},{"volume-title":"Proceedings of the Advances in Neural Information Processing Systems","year":"1999","author":"Murphy","key":"S0263574708005250_ref4"},{"key":"S0263574708005250_ref19","first-page":"693","volume-title":"Proceedings of the Advances in Neural Information Processing Systems","author":"Omohundro","year":"1990"},{"key":"S0263574708005250_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3437-9_11"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708005250","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,6]],"date-time":"2025-02-06T19:53:43Z","timestamp":1738871623000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708005250\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,1,6]]},"references-count":19,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2009,10]]}},"alternative-id":["S0263574708005250"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708005250","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2009,1,6]]}}}