{"id":"https://openalex.org/W7131840830","doi":"https://doi.org/10.1109/access.2026.3668771","title":"ADVI-SLAM: An Adaptive Multi-Modal Data Fusion Localization Method for Mobile Robots","display_name":"ADVI-SLAM: An Adaptive Multi-Modal Data Fusion Localization Method for Mobile Robots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7131840830","doi":"https://doi.org/10.1109/access.2026.3668771"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3668771","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3668771","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":null,"license_id":null,"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.2026.3668771","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127153603","display_name":"Mingrui Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Mingrui Ma","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123784194","display_name":"Shoude Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136047","display_name":"Weifang University of Science and Technology","ror":"https://ror.org/04ha2bb10","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136047"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoude Wang","raw_affiliation_strings":["Weifang University of Science and Technology, Shouguang, China"],"raw_orcid":"https://orcid.org/0009-0004-2485-2299","affiliations":[{"raw_affiliation_string":"Weifang University of Science and Technology, Shouguang, China","institution_ids":["https://openalex.org/I4210136047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039331012","display_name":"Nur Syazreen Ahmad","orcid":"https://orcid.org/0000-0003-2615-8386"},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Nur Syazreen Ahmad","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia"],"raw_orcid":"https://orcid.org/0000-0003-2615-8386","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5127153603"],"corresponding_institution_ids":["https://openalex.org/I139322472"],"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":0.39528777,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"32690","last_page":"32701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9488000273704529,"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":0.9488000273704529,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0035000001080334187,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6435999870300293},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.576200008392334},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4900999963283539},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.47049999237060547},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4449000060558319},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4345000088214874},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.3930000066757202},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.3917999863624573},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.37389999628067017}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7448999881744385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6926000118255615},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6435999870300293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6029999852180481},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.576200008392334},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4900999963283539},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.47049999237060547},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4449000060558319},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4345000088214874},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.3930000066757202},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3917999863624573},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.37389999628067017},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.37070000171661377},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3614000082015991},{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.2989000082015991},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.2529999911785126},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3668771","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3668771","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5b5bac41d5174dbf8dda1311191622b8","is_oa":true,"landing_page_url":"https://doaj.org/article/5b5bac41d5174dbf8dda1311191622b8","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 32690-32701 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3668771","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3668771","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":null,"license_id":null,"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/G2964138830","display_name":null,"funder_award_id":"FRGS/1/2024/TK07/USM/02/3","funder_id":"https://openalex.org/F4320321709","funder_display_name":"Ministry of Higher Education, Malaysia"}],"funders":[{"id":"https://openalex.org/F4320321709","display_name":"Ministry of Higher Education, Malaysia","ror":"https://ror.org/05mcs2t73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Current":[0],"purely":[1],"vision-based":[2],"SLAM":[3,42],"algorithms":[4],"often":[5],"suffer":[6],"from":[7],"visual":[8,41,61],"data":[9],"failure":[10,26],"in":[11,69,149,157],"complex":[12],"environments,":[13],"such":[14,72],"as":[15,73],"pose":[16],"tracking":[17,25],"loss":[18],"and":[19,34,62,79,114,152,166,183],"poor":[20],"robustness,":[21],"leading":[22],"to":[23,48,102,116,140],"catastrophic":[24],"or":[27],"significant":[28],"drift.":[29],"To":[30,82],"ensure":[31],"high":[32,175],"accuracy":[33,177],"generalization":[35],"stability,":[36],"we":[37,56,86,120],"build":[38],"upon":[39],"binocular":[40],"by":[43],"adopting":[44],"a":[45,137],"tightly-coupled":[46],"approach":[47],"fuse":[49],"IMU":[50],"inertial":[51,63],"data.":[52],"Through":[53],"nonlinear":[54],"optimization,":[55],"achieve":[57],"deep":[58],"complementarity":[59],"between":[60],"information,":[64],"effectively":[65],"enhancing":[66],"system":[67,184],"stability":[68],"challenging":[70],"scenarios":[71],"weak":[74],"textures,":[75],"sudden":[76],"illumination":[77],"changes,":[78],"rapid":[80],"motion.":[81],"address":[83],"these":[84],"challenges,":[85],"introduce":[87,117],"ADVI-SLAM,":[88],"which":[89],"is":[90],"an":[91,123],"adaptive":[92,124],"multi-modal":[93],"information":[94],"fusion":[95],"localization":[96],"method":[97],"for":[98],"mobile":[99],"robots.":[100],"Furthermore,":[101],"overcome":[103],"the":[104,143,158,164,171],"drawbacks":[105],"of":[106],"traditional":[107],"marginalization":[108,126,144],"strategies,":[109],"specifically":[110],"their":[111],"strong":[112,180],"priors":[113],"tendency":[115],"erroneous":[118],"constraints,":[119],"innovatively":[121],"design":[122],"dynamic":[125],"algorithm.":[127],"Based":[128],"on":[129,163],"sliding":[130],"window":[131],"optimization":[132],"theory,":[133],"this":[134],"algorithm":[135],"incorporates":[136],"feedback":[138],"mechanism":[139],"dynamically":[141],"adjust":[142],"strategy,":[145],"preventing":[146],"abrupt":[147],"jumps":[148],"state":[150],"estimation":[151],"thereby":[153],"further":[154],"ensuring":[155],"consistency":[156],"global":[159],"manifold.":[160],"Extensive":[161],"experiments":[162],"EuRoc":[165],"KITTI":[167],"datasets":[168],"demonstrate":[169],"that":[170],"proposed":[172],"ADVI-SLAM":[173],"maintains":[174],"positioning":[176],"while":[178],"exhibiting":[179],"environmental":[181],"adaptability":[182],"stability.":[185]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2026-02-28T00:00:00"}