{"id":"https://openalex.org/W7134984023","doi":"https://doi.org/10.1109/access.2026.3672677","title":"Efficient and Robust Temporal Modeling for LGPR Odometry With Mamba","display_name":"Efficient and Robust Temporal Modeling for LGPR Odometry With Mamba","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7134984023","doi":"https://doi.org/10.1109/access.2026.3672677"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3672677","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672677","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.2026.3672677","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128775711","display_name":"Minje Jeon","orcid":null},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minje Jeon","raw_affiliation_strings":["Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea"],"raw_orcid":"https://orcid.org/0009-0006-1556-7300","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128714703","display_name":"Hyeonbeen Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeonbeen Lee","raw_affiliation_strings":["Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052915656","display_name":"Jangho Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jangho Lee","raw_affiliation_strings":["Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0723-9287","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Incheon National University, Incheon, South Korea","institution_ids":["https://openalex.org/I146429904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146429904"],"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":0.27573573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"38775","last_page":"38792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.8852999806404114,"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"}},"topics":[{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.8852999806404114,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.025299999862909317,"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/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.011800000444054604,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7746999859809875},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7386999726295471},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7164999842643738},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5271000266075134},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.447299987077713},{"id":"https://openalex.org/keywords/telemetry","display_name":"Telemetry","score":0.3652999997138977},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.36489999294281006},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.3319000005722046}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.777999997138977},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7746999859809875},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7386999726295471},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7164999842643738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6534000039100647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5891000032424927},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5271000266075134},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C183121708","wikidata":"https://www.wikidata.org/wiki/Q209867","display_name":"Telemetry","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.36489999294281006},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3050000071525574},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.29010000824928284},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3672677","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672677","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:564acad9f22c49da960cdd62cf079d9e","is_oa":true,"landing_page_url":"https://doaj.org/article/564acad9f22c49da960cdd62cf079d9e","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 38775-38792 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3672677","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672677","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":[],"funders":[{"id":"https://openalex.org/F4320321363","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Efficient":[0],"and":[1,18,88,96,99,111,137,161],"robust":[2],"odometry":[3,160],"in":[4],"GPS-denied":[5],"environments":[6],"is":[7,147],"essential":[8],"for":[9,74,134,149,158],"autonomous":[10],"navigation,":[11],"yet":[12],"conventional":[13],"sensors":[14],"such":[15],"as":[16,20,22],"cameras":[17],"LiDAR,":[19],"well":[21],"Global":[23],"Navigation":[24],"Satellite":[25],"System":[26],"(GNSS)":[27],"receivers,":[28],"suffer":[29],"from":[30,55],"performance":[31],"degradation":[32],"under":[33,102],"adverse":[34],"weather,":[35],"illumination":[36],"changes,":[37],"or":[38],"surface-level":[39],"variability.":[40],"Localizing":[41],"Ground-Penetrating":[42],"Radar":[43],"(LGPR)":[44],"provides":[45],"complementary":[46],"robustness":[47],"by":[48],"leveraging":[49],"stable":[50],"subsurface":[51,159],"reflections,":[52],"but":[53],"learning":[54],"long,":[56],"noisy":[57],"B-scan":[58],"sequences":[59],"remains":[60],"challenging.":[61],"We":[62,77,140],"present":[63],"the":[64,115],"first":[65],"systematic":[66],"benchmark":[67],"of":[68],"a":[69,79,84,103,155],"selective":[70],"state-space":[71],"model,":[72],"Mamba,":[73],"LGPR":[75],"odometry.":[76],"build":[78],"unified":[80],"spatio-temporal":[81],"pipeline":[82],"with":[83],"ResNet-18":[85],"radargram":[86],"encoder":[87,145],"interchangeable":[89],"temporal":[90],"backbones,":[91],"including":[92],"Linear,":[93],"LSTM,":[94],"Transformer,":[95],"SSM-based":[97],"models,":[98],"evaluate":[100],"them":[101],"controlled":[104],"protocol":[105],"that":[106,143],"fixes":[107],"preprocessing,":[108],"spatial":[109],"encoding,":[110],"data":[112],"splits.":[113],"On":[114],"CMU-GPR":[116],"dataset,":[117],"Mamba":[118],"achieves":[119],"top-tier":[120],"displacement":[121],"accuracy":[122],"(RMSE":[123],"0.06":[124],"m,":[125],"<italic":[126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">R<sup>2</sup></i>":[128],"\u2248":[129],"0.94)":[130],"while":[131],"remaining":[132],"efficient":[133],"long-context":[135],"modeling":[136],"embedded":[138],"deployment.":[139],"also":[141],"observe":[142],"domain-specific":[144],"training":[146],"critical":[148],"this":[150],"modality.":[151],"These":[152],"results":[153],"establish":[154],"reproducible":[156],"baseline":[157],"motivate":[162],"broader":[163],"cross-dataset":[164],"validation.":[165],"The":[166],"code":[167],"will":[168],"be":[169],"made":[170],"available":[171],"upon":[172],"publication.":[173]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-03-12T00:00:00"}