{"id":"https://openalex.org/W3000065826","doi":"https://doi.org/10.1109/access.2020.2965300","title":"Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop","display_name":"Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3000065826","doi":"https://doi.org/10.1109/access.2020.2965300","mag":"3000065826"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2965300","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965300","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954619.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954619.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100357010","display_name":"Gen Li","orcid":"https://orcid.org/0000-0001-7511-7308"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gen Li","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-7511-7308","affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058958587","display_name":"Yu Huang","orcid":"https://orcid.org/0000-0002-9360-0843"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Huang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395708","display_name":"Xiaolong Zhang","orcid":"https://orcid.org/0000-0003-2808-1220"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2808-1220","affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039318614","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0001-9217-3256"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101718174","display_name":"Wenjun Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Shao","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838263","display_name":"Liquan Jiang","orcid":"https://orcid.org/0000-0002-7203-5953"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Jiang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100670645","display_name":"Jie Meng","orcid":"https://orcid.org/0000-0002-4485-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Meng","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100357010"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":32.5797,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.99272155,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"10782","last_page":"10795"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7095947265625},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.6294294595718384},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5977801084518433},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5027084350585938},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4912495017051697},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.4447091221809387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42851901054382324},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4236806333065033},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4186874032020569},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4119088053703308},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35427534580230713},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3459370732307434},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.31814640760421753},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.28452399373054504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23997896909713745}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7095947265625},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.6294294595718384},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5977801084518433},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5027084350585938},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4912495017051697},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.4447091221809387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42851901054382324},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4236806333065033},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4186874032020569},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4119088053703308},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35427534580230713},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3459370732307434},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.31814640760421753},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.28452399373054504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23997896909713745},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2965300","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965300","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954619.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1894d5534b0f40fcb04f3ce49c4e1ef7","is_oa":true,"landing_page_url":"https://doaj.org/article/1894d5534b0f40fcb04f3ce49c4e1ef7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 10782-10795 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2965300","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965300","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954619.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4973367453","display_name":null,"funder_award_id":"51805190","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6644339985","display_name":null,"funder_award_id":"2017B090913001","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"},{"id":"https://openalex.org/G78131010","display_name":null,"funder_award_id":"100-0199100041","funder_id":"https://openalex.org/F4320321883","funder_display_name":"Huazhong University of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321883","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53"},{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3000065826.pdf","grobid_xml":"https://content.openalex.org/works/W3000065826.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1556546299","https://openalex.org/W1598947584","https://openalex.org/W1642248920","https://openalex.org/W1973876344","https://openalex.org/W1991752086","https://openalex.org/W1995055841","https://openalex.org/W2033938800","https://openalex.org/W2059068775","https://openalex.org/W2091107301","https://openalex.org/W2099414706","https://openalex.org/W2115991397","https://openalex.org/W2131935295","https://openalex.org/W2150304237","https://openalex.org/W2160584648","https://openalex.org/W2161798487","https://openalex.org/W2300756811","https://openalex.org/W2341939958","https://openalex.org/W2360714575","https://openalex.org/W2397917083","https://openalex.org/W2406673394","https://openalex.org/W2411093439","https://openalex.org/W2524668350","https://openalex.org/W2560852416","https://openalex.org/W2605103573","https://openalex.org/W2731657477","https://openalex.org/W2770342399","https://openalex.org/W2771538363","https://openalex.org/W2809423340","https://openalex.org/W2910925829","https://openalex.org/W2916605640","https://openalex.org/W2921006771","https://openalex.org/W2944547061","https://openalex.org/W2947431802","https://openalex.org/W2966855016","https://openalex.org/W2980344706","https://openalex.org/W2981096593","https://openalex.org/W6712311078"],"related_works":["https://openalex.org/W2102077521","https://openalex.org/W2313974481","https://openalex.org/W2586560793","https://openalex.org/W1995725931","https://openalex.org/W4210308049","https://openalex.org/W2159711224","https://openalex.org/W4389201346","https://openalex.org/W2161734407","https://openalex.org/W2059825368","https://openalex.org/W2382799461"],"abstract_inverted_index":{"With":[0],"excellent":[1],"mobility":[2],"and":[3,12,29,34,79,94,106,125,130,144,155,161,217],"flexibility,":[4],"mobile":[5,55],"manipulators":[6],"have":[7],"great":[8],"potential":[9],"for":[10,177],"loading":[11,216],"unloading":[13,218],"tasks":[14,219],"of":[15,26,38,52,74,200,215],"numerical":[16],"control":[17],"machine":[18],"tools":[19],"(CNC)":[20],"in":[21,220,226],"manufacturing":[22,42,223],"workshops.":[23],"However,":[24],"because":[25],"the":[27,35,49,59,103,116,126,152,156,162,171,192,198],"rough":[28],"oily":[30],"ground,":[31],"dynamic":[32,201],"obstacles":[33],"convex":[36,117],"plate":[37],"a":[39,45,65,75,80,182,221],"CNC,":[40],"harsh":[41,104],"workshop":[43],"poses":[44],"huge":[46],"challenge":[47],"to":[48,100,107,120,134,196],"localization":[50,69,77,109,113,142,205,228],"system":[51,70,206],"an":[53],"autonomous":[54],"manipulator.":[56],"To":[57,139],"address":[58],"above":[60],"problem,":[61],"this":[62],"paper":[63],"presents":[64],"hybrid":[66,87,95,172],"maps":[67,85],"enhanced":[68],"which":[71],"mainly":[72],"consists":[73],"global":[76,112,137],"method":[78,114,149],"pose":[81,147,193],"tracking":[82,148,194],"method.":[83],"Hybrid":[84],"including":[86,212],"grid":[88],"map,":[89],"multi-resolution":[90],"likelihood":[91],"fields":[92],"(MLFs)":[93],"point":[96,173],"map":[97,174],"are":[98],"constructed":[99],"efficaciously":[101],"model":[102],"environment":[105],"improve":[108],"performance.":[110,229],"Our":[111],"employs":[115],"hull":[118],"sampling":[119],"spares":[121],"dense":[122],"Lidar":[123],"data":[124],"MLFs":[127],"based":[128,167],"branch":[129],"bound":[131],"(BnB)":[132],"search":[133,154],"speed":[135],"up":[136],"search.":[138],"achieve":[140],"real-time":[141],"reliably":[143],"accurately,":[145],"our":[146],"seamlessly":[150],"combines":[151],"BnB":[153],"adaptive":[157],"Monte":[158],"Carlo":[159],"localization,":[160],"Iterative":[163],"Closest":[164],"Point":[165],"(ICP)":[166],"scan":[168],"matching":[169],"using":[170],"is":[175,189,207],"adopted":[176],"higher":[178],"accuracy.":[179],"In":[180],"addition,":[181],"distance":[183],"filter":[184],"improved":[185],"by":[186],"unscented":[187],"transform":[188],"integrated":[190],"into":[191],"process":[195],"mitigate":[197],"influence":[199],"obstacles.":[202],"The":[203],"developed":[204],"evaluated":[208],"through":[209],"different":[210],"experiments":[211],"two":[213],"weeks":[214],"real":[222],"scenario,":[224],"resulting":[225],"superior":[227]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}