{"id":"https://openalex.org/W7118208569","doi":"https://doi.org/10.1109/access.2025.3650454","title":"Autonomous Localization and Navigation for Drones Over Rivers","display_name":"Autonomous Localization and Navigation for Drones Over Rivers","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7118208569","doi":"https://doi.org/10.1109/access.2025.3650454"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3650454","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3650454","pdf_url":null,"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://doi.org/10.1109/access.2025.3650454","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Po-Chun Wu","orcid":"https://orcid.org/0009-0007-1886-6872"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Po-Chun Wu","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":"https://orcid.org/0009-0007-1886-6872","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121929232","display_name":"Yang-Yi Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yang-Yi Chen","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121944228","display_name":"Chun-Liang Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Liang Lin","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-8520-3450","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031806783","display_name":"H. C. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162838928"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01785459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"5236","last_page":"5254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7045999765396118,"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":0.7045999765396118,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.04340000078082085,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.023800000548362732,"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/robustness","display_name":"Robustness (evolution)","score":0.6922000050544739},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6011000275611877},{"id":"https://openalex.org/keywords/real-time-kinematic","display_name":"Real Time Kinematic","score":0.564300000667572},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5594000220298767},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5512999892234802},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5480999946594238},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.499099999666214},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.484499990940094},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4375}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7160000205039978},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6922000050544739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6661999821662903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6279000043869019},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6011000275611877},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.564300000667572},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5594000220298767},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5512999892234802},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5480999946594238},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.499099999666214},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.484499990940094},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4375},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43689998984336853},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.43059998750686646},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3898000121116638},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3621000051498413},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.359499990940094},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32989999651908875},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.3093000054359436},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.30059999227523804},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25369998812675476}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3650454","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3650454","pdf_url":null,"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:7ea5c38db2724c10b1a9ca573a11034a","is_oa":true,"landing_page_url":"https://doaj.org/article/7ea5c38db2724c10b1a9ca573a11034a","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 14, Pp 5236-5254 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3650454","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3650454","pdf_url":null,"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/G1083171155","display_name":null,"funder_award_id":"NSTC 112-2221-E-005 -068 -MY2.","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"},{"id":"https://openalex.org/G2814134341","display_name":null,"funder_award_id":"NSTC 112-2221-E-005-068-MY2","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"}],"funders":[{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W764651262","https://openalex.org/W1532362218","https://openalex.org/W1677409904","https://openalex.org/W2117228865","https://openalex.org/W2145023731","https://openalex.org/W2151103935","https://openalex.org/W2183794822","https://openalex.org/W2483158495","https://openalex.org/W2603773813","https://openalex.org/W2745859992","https://openalex.org/W2805551236","https://openalex.org/W2891582867","https://openalex.org/W2903882176","https://openalex.org/W2920150127","https://openalex.org/W2963782415","https://openalex.org/W2980809414","https://openalex.org/W3130508491","https://openalex.org/W3161909349","https://openalex.org/W3187838476","https://openalex.org/W4200377417","https://openalex.org/W4285818561","https://openalex.org/W4312790276","https://openalex.org/W4313471968","https://openalex.org/W4387490631","https://openalex.org/W4393255277","https://openalex.org/W4401211894","https://openalex.org/W4411402244"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"are":[4],"increasingly":[5],"used":[6],"for":[7,118,178],"environmental":[8,184],"monitoring":[9,185],"and":[10,44,51,76,98,108,120,130,145,155,166,175,182],"riverine":[11,188],"studies;":[12],"however,":[13],"their":[14],"dependence":[15],"on":[16],"Global":[17],"Positioning":[18],"System":[19],"(GPS)":[20],"localization":[21,181],"is":[22],"often":[23],"compromised":[24],"in":[25,143,186],"forested":[26],"areas,":[27],"under":[28],"bridges,":[29],"or":[30],"above":[31],"highly":[32],"dynamic":[33,146],"water":[34],"surfaces.":[35],"Conventional":[36],"vision-based":[37],"navigation":[38,60],"methods":[39],"struggle":[40],"with":[41,161],"sparse":[42],"textures":[43],"transient":[45,103],"disturbances,":[46],"leading":[47],"to":[48,95],"unstable":[49],"positioning":[50],"drift.":[52],"This":[53],"paper":[54],"presents":[55],"a":[56,83,173],"robust":[57],"real-time":[58],"visual\u2013inertial":[59],"framework":[61,150],"that":[62,135],"integrates":[63],"neural":[64],"network\u2013based":[65],"optical":[66],"flow":[67],"estimation":[68,115],"(NeuFlow":[69],"v2),":[70],"the":[71,91,111],"Dynamic":[72],"Divided":[73],"Method":[74],"(DDM),":[75],"inertial":[77],"measurement":[78,122],"unit":[79],"(IMU)":[80],"data":[81],"through":[82],"Kalman":[84],"Filter":[85],"(KF).":[86],"The":[87,148],"DDM":[88],"adaptively":[89],"segments":[90],"optical-flow":[92],"field":[93],"according":[94],"water-surface":[96],"dynamics":[97],"local":[99],"texture":[100],"stability,":[101],"suppressing":[102],"artifacts":[104],"such":[105],"as":[106],"ripples":[107],"reflections,":[109],"while":[110],"KF":[112,156],"stabilizes":[113],"state":[114],"by":[116],"compensating":[117],"outliers":[119],"short-term":[121],"loss.":[123],"Field":[124],"experiments":[125],"at":[126],"Kangqiao,":[127],"Green":[128],"River,":[129],"Wu":[131],"River":[132],"sites":[133],"demonstrate":[134],"DDM-enhanced":[136],"visual":[137],"odometry":[138],"(VO)":[139],"significantly":[140],"improves":[141],"robustness":[142],"low-texture":[144],"conditions.":[147],"fused":[149],"combining":[151],"NeuFlow":[152],"v2,":[153],"DDM,":[154],"achieves":[157],"high":[158],"trajectory":[159],"similarity":[160],"GPS":[162],"benchmarks,":[163],"reduced":[164],"drift,":[165],"enhanced":[167],"spatial":[168],"consistency.":[169],"These":[170],"findings":[171],"validate":[172],"practical":[174],"effective":[176],"solution":[177],"accurate":[179],"UAV":[180],"autonomous":[183],"GPS-degraded":[187],"environments.":[189]},"counts_by_year":[],"updated_date":"2026-01-15T23:16:33.117629","created_date":"2026-01-05T00:00:00"}