{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T08:53:37Z","timestamp":1777625617725,"version":"3.51.4"},"reference-count":17,"publisher":"Elsevier BV","issue":"1","license":[{"start":{"date-parts":[[2007,1,1]],"date-time":"2007-01-01T00:00:00Z","timestamp":1167609600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2007,1]]},"DOI":"10.1016\/j.robot.2006.06.005","type":"journal-article","created":{"date-parts":[[2006,11,8]],"date-time":"2006-11-08T12:34:18Z","timestamp":1162989258000},"page":"21-29","source":"Crossref","is-referenced-by-count":171,"title":["Robocentric map joining: Improving the consistency of EKF-SLAM"],"prefix":"10.1016","volume":"55","author":[{"given":"J.A.","family":"Castellanos","sequence":"first","affiliation":[]},{"given":"R.","family":"Martinez-Cantin","sequence":"additional","affiliation":[]},{"given":"J.D.","family":"Tard\u00f3s","sequence":"additional","affiliation":[]},{"given":"J.","family":"Neira","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"10.1016\/j.robot.2006.06.005_b1","series-title":"Robotics Research: The Fourth Int. Symposium","first-page":"467","article-title":"A stochastic map for uncertain spatial relationships","author":"Smith","year":"1988"},{"key":"10.1016\/j.robot.2006.06.005_b2","series-title":"Estimation with Applications to Tracking and Navigation","author":"Bar-Shalom","year":"2001"},{"issue":"3","key":"10.1016\/j.robot.2006.06.005_b3","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1109\/70.938381","article-title":"A solution to the simultaneous localization and map building (SLAM) problem","volume":"17","author":"Dissanayake","year":"2001","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10.1016\/j.robot.2006.06.005_b4","doi-asserted-by":"crossref","unstructured":"S. Julier, J.K. Uhlmann, A counter example to the theory of simultaneous localization and map building, in: Proceedings of the 2001 IEEE International Confeference on Robotics and Automation, Seoul, Korea, 2001, pp. 4238\u20134243","DOI":"10.1109\/ROBOT.2001.933280"},{"key":"10.1016\/j.robot.2006.06.005_b5","doi-asserted-by":"crossref","unstructured":"J.A. Castellanos, J. Neira, J.D. Tard\u00f3s, Limits to the consistency of EKF-based SLAM, in: 5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, July 2004","DOI":"10.1016\/S1474-6670(17)32063-3"},{"key":"10.1016\/j.robot.2006.06.005_b6","unstructured":"M.A. Paskin, Thin junction tree filters for simultaneous localization and mapping, in: International Joint Conference on Artificial Intelligence, 2003, pp. 1157\u20131164"},{"key":"10.1016\/j.robot.2006.06.005_b7","doi-asserted-by":"crossref","unstructured":"R. Martinez-Cantin, J.A. Castellanos, Unscented SLAM for large-scale outdoor environments, in: IEEE\/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, August 2005, pp. 328\u2013333","DOI":"10.1109\/IROS.2005.1545002"},{"key":"10.1016\/j.robot.2006.06.005_b8","unstructured":"A. Doucet, N. de Freitas, K. Murphy, S. Russell, Rao-blackwellised particle filtering for dynamic bayesian networks, in: Uncertainty in Artificial Intelligence, 2000"},{"key":"10.1016\/j.robot.2006.06.005_b9","article-title":"FastSLAM: An efficient solution to the simultaneous localization and mapping problem with unknown data association","author":"Thrun","year":"2004","journal-title":"Journal of Machine Learning Research"},{"issue":"4","key":"10.1016\/j.robot.2006.06.005_b10","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1177\/027836402320556340","article-title":"Robust mapping and localization in indoor environments using sonar data","volume":"21","author":"Tard\u00f3s","year":"2002","journal-title":"International Journal of Robotics Research"},{"key":"10.1016\/j.robot.2006.06.005_b11","series-title":"Mobile Robot Localization and Map Building. A Multisensor Fusion Approach","author":"Castellanos","year":"1999"},{"issue":"6","key":"10.1016\/j.robot.2006.06.005_b12","doi-asserted-by":"crossref","first-page":"890","DOI":"10.1109\/70.976019","article-title":"Data association in stochastic mapping using the joint compatibility test","volume":"17","author":"Neira","year":"2001","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"3","key":"10.1016\/j.robot.2006.06.005_b13","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1109\/70.938382","article-title":"Optimization of the simultaneous localization and map-building algorithm for real-time implementation","volume":"17","author":"Guivant","year":"2001","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10.1016\/j.robot.2006.06.005_b14","unstructured":"J.H. Kim, S. Sukkarieh, Airborne simultaneous localisation and map building, in: Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003"},{"key":"10.1016\/j.robot.2006.06.005_b15","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1017\/S0263574701003411","article-title":"Stochastic mapping using forward look sonar","volume":"19","author":"Leonard","year":"2001","journal-title":"Robotica"},{"key":"10.1016\/j.robot.2006.06.005_b16","series-title":"Robotics Research: The Ninth International Symposium","first-page":"169","article-title":"A computationally efficient method for large-scale concurrent mapping and localization","author":"Leonard","year":"2000"},{"key":"10.1016\/j.robot.2006.06.005_b17","unstructured":"J.J. Leonard, P.M. Newman, Consistent, convergent and constant-time SLAM, in: International Joint Conference on Artificial Intelligence, Acapulco, Mexico, August 2003"}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889006001448?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889006001448?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,1,11]],"date-time":"2025-01-11T22:26:05Z","timestamp":1736634365000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889006001448"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,1]]},"references-count":17,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2007,1]]}},"alternative-id":["S0921889006001448"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2006.06.005","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2007,1]]}}}