{"id":"https://openalex.org/W7163915718","doi":"https://doi.org/10.1109/access.2026.3700678","title":"A Robust Stereo Visual\u2013Inertial\u2013GNSS Localization System for Dynamic Environments via Light-Enhanced Semantic\u2013Geometric Perception","display_name":"A Robust Stereo Visual\u2013Inertial\u2013GNSS Localization System for Dynamic Environments via Light-Enhanced Semantic\u2013Geometric Perception","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7163915718","doi":"https://doi.org/10.1109/access.2026.3700678"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3700678","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700678","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.2026.3700678","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138173002","display_name":"Pengyu Wang","orcid":"https://orcid.org/0000-0001-8290-0392"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyu Wang","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-8290-0392","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137140101","display_name":"Wenjun Mo","orcid":"https://orcid.org/0009-0002-0607-2171"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Mo","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0002-0607-2171","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045158899","display_name":"Qiyao Chen","orcid":"https://orcid.org/0009-0002-3257-7114"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyao Chen","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0002-3257-7114","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138194005","display_name":"Jiaqi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Li","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029368027","display_name":"Yongxin Yu","orcid":"https://orcid.org/0000-0002-2515-8061"},"institutions":[{"id":"https://openalex.org/I49232843","display_name":"Changchun University","ror":"https://ror.org/02an57k10","country_code":"CN","type":"education","lineage":["https://openalex.org/I49232843"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongxin Yu","raw_affiliation_strings":["Qiming Information Technology Company Ltd., Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qiming Information Technology Company Ltd., Changchun, China","institution_ids":["https://openalex.org/I49232843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137130909","display_name":"Wentao Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Fang","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138164645","display_name":"Yanhui Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhui Lu","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-1360-9830","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":0.86316843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"86170","last_page":"86189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8073999881744385,"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":0.8073999881744385,"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":0.1454000025987625,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.0066999997943639755,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.580299973487854},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4025000035762787},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3982999920845032},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2736000120639801},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2703000009059906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7462000250816345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7242000102996826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6775000095367432},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.580299973487854},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4025000035762787},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3982999920845032},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.24709999561309814},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.23389999568462372}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3700678","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700678","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:616c4e3533df4704b9a1ed441c782870","is_oa":true,"landing_page_url":"https://doaj.org/article/616c4e3533df4704b9a1ed441c782870","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 86170-86189 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3700678","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700678","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/G7884904339","display_name":null,"funder_award_id":"20250306012ZD","funder_id":"https://openalex.org/F4320335957","funder_display_name":"Major Science and Technology Project of Hainan Province"}],"funders":[{"id":"https://openalex.org/F4320335957","display_name":"Major Science and Technology Project of Hainan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual-Inertial":[0],"Odometry":[1],"(VIO)":[2],"is":[3,43,69,150,209],"critical":[4],"for":[5,39,227],"autonomous":[6,228],"vehicle":[7],"localization":[8,36],"but":[9],"remains":[10],"vulnerable":[11],"to":[12,46,108,127],"pose":[13],"estimation":[14],"drift":[15,132],"caused":[16],"by":[17,100,199,211],"dynamic":[18,41,91],"objects":[19],"and":[20,65,219],"severe":[21],"illumination":[22],"variations":[23],"in":[24,82,179],"real-world":[25,175],"scenarios.":[26],"To":[27,152],"address":[28],"these":[29],"coupled":[30],"challenges,":[31],"a":[32,61,66,83,101,140,167,172],"robust":[33,74],"stereo":[34,104],"VIO-GNSS":[35],"system":[37],"tailored":[38],"complex":[40],"environments":[42],"proposed.":[44],"First,":[45],"ensure":[47],"reliable":[48,116],"perception":[49],"under":[50],"degraded":[51],"lighting":[52],"conditions,":[53],"an":[54],"improved":[55],"real-time":[56],"semantic":[57,75,97],"segmentation":[58],"network":[59],"featuring":[60],"cascaded":[62],"light-enhancement":[63],"module":[64,144],"boundary-assisted":[67],"branch":[68],"developed.":[70],"Building":[71],"upon":[72],"this":[73],"prior,":[76],"the":[77,88,122,129,155,159,180,188,193,205,214],"core":[78],"algorithmic":[79],"innovation":[80],"lies":[81],"\"semantic-geometric\"":[84],"dual-filtering":[85,190],"mechanism":[86,191],"within":[87],"frontend.":[89],"Explicit":[90],"features":[92,118],"are":[93,119,164],"preliminarily":[94],"rejected":[95],"using":[96],"masks,":[98],"followed":[99],"rigorous":[102],"secondary":[103],"epipolar":[105],"geometry":[106],"verification":[107],"precisely":[109],"eliminate":[110],"implicit":[111],"residual":[112],"outliers,":[113],"ensuring":[114],"only":[115],"static":[117],"fed":[120],"into":[121],"backend":[123],"sliding-window":[124],"optimizer.":[125],"Furthermore,":[126,201],"overcome":[128],"inherent":[130],"long-term":[131,206],"of":[133,158,224],"pure":[134],"visual-inertial":[135],"systems":[136],"over":[137],"extended":[138],"operations,":[139],"tightly-coupled":[141],"GNSS":[142,203],"fusion":[143],"based":[145],"on":[146],"factor":[147],"graph":[148],"optimization":[149],"integrated.":[151],"explicitly":[153],"evaluate":[154],"performance":[156],"gain":[157],"proposed":[160,189],"frontend,":[161],"comparative":[162],"experiments":[163],"conducted":[165],"against":[166],"structurally":[168],"homologous":[169],"baseline":[170],"across":[171,221],"comprehensive":[173],"dual-scenario":[174],"evaluation":[176],"suite.":[177],"Results":[178],"most":[181],"challenging":[182],"unconstrained":[183],"urban":[184],"scenario":[185],"demonstrate":[186],"that":[187],"reduces":[192],"Absolute":[194],"Pose":[195],"Error":[196],"(APE)":[197],"RMSE":[198],"22.7%.":[200],"with":[202],"integration,":[204],"accumulated":[207],"error":[208],"reduced":[210],"47.1%,":[212],"validating":[213],"system's":[215],"completeness,":[216],"high":[217],"precision,":[218],"reliability":[220],"varying":[222],"levels":[223],"environmental":[225],"degradation":[226],"driving.":[229]},"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2026-06-09T00:00:00"}