{"id":"https://openalex.org/W4317892889","doi":"https://doi.org/10.1109/iccspa55860.2022.10019210","title":"LiDAR/Visual SLAM-Aided Vehicular Inertial Navigation System for GNSS-Denied Environments","display_name":"LiDAR/Visual SLAM-Aided Vehicular Inertial Navigation System for GNSS-Denied Environments","publication_year":2022,"publication_date":"2022-12-27","ids":{"openalex":"https://openalex.org/W4317892889","doi":"https://doi.org/10.1109/iccspa55860.2022.10019210"},"language":"en","primary_location":{"id":"doi:10.1109/iccspa55860.2022.10019210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccspa55860.2022.10019210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 5th International Conference on Communications, Signal Processing, and their Applications (ICCSPA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073245451","display_name":"Nader Abdelaziz","orcid":"https://orcid.org/0000-0003-4290-0122"},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]},{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA","EG"],"is_corresponding":false,"raw_author_name":"Nader Abdelaziz","raw_affiliation_strings":["Toronto Metropolitan University & Tanta University (Egypt),Dept. of Civil Engineering,Toronto,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University & Tanta University (Egypt),Dept. of Civil Engineering,Toronto,Ontario,Canada","institution_ids":["https://openalex.org/I21376657","https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086020074","display_name":"Ahmed El\u2010Rabbany","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092976","display_name":"Metropolitan University","ror":"https://ror.org/00ewfne71","country_code":"RS","type":"education","lineage":["https://openalex.org/I4210092976"]},{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA","RS"],"is_corresponding":false,"raw_author_name":"Ahmed El-Rabbany","raw_affiliation_strings":["Toronto Metropolitan University,Dept. of Civil Engineering,Toronto,Ontario,Canada","Dept. of Civil Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University,Dept. of Civil Engineering,Toronto,Ontario,Canada","institution_ids":["https://openalex.org/I4210092976"]},{"raw_affiliation_string":"Dept. of Civil Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1802,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9340017,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9983000159263611,"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":0.9922999739646912,"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/gnss-applications","display_name":"GNSS applications","score":0.8691256046295166},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.742387056350708},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7126309275627136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6481908559799194},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5943813323974609},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5490531921386719},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5357605218887329},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5328481793403625},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5276134014129639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4132368862628937},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39412763714790344},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3585546314716339},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.32417023181915283},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.30338382720947266},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19756990671157837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16976496577262878},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15871566534042358},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.1092228889465332},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07603159546852112}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8691256046295166},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.742387056350708},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7126309275627136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6481908559799194},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5943813323974609},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5490531921386719},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5357605218887329},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5328481793403625},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5276134014129639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4132368862628937},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39412763714790344},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3585546314716339},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.32417023181915283},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.30338382720947266},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19756990671157837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16976496577262878},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15871566534042358},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.1092228889465332},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07603159546852112},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccspa55860.2022.10019210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccspa55860.2022.10019210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 5th International Conference on Communications, Signal Processing, and their Applications (ICCSPA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2094293289","https://openalex.org/W2115579991","https://openalex.org/W2296228853","https://openalex.org/W2296816139","https://openalex.org/W2535547924","https://openalex.org/W2566918566","https://openalex.org/W2899072036","https://openalex.org/W2909908358","https://openalex.org/W2942911839","https://openalex.org/W3087672182","https://openalex.org/W3102327032","https://openalex.org/W3129693044","https://openalex.org/W3154812912","https://openalex.org/W4205574455","https://openalex.org/W4282601779","https://openalex.org/W6783774005"],"related_works":["https://openalex.org/W2393072194","https://openalex.org/W1535005230","https://openalex.org/W2921707373","https://openalex.org/W2911684682","https://openalex.org/W2086478527","https://openalex.org/W2080367870","https://openalex.org/W2162136131","https://openalex.org/W4200117214","https://openalex.org/W2986149760","https://openalex.org/W4386168116"],"abstract_inverted_index":{"Most":[0],"navigation":[1,10,77,107,167],"systems":[2],"in":[3,24,129,173,184],"GNSS-challenged":[4],"environments":[5,128],"rely":[6],"on":[7,42,111],"GNSS/INS":[8,68],"integrated":[9,106,155,166],"system,":[11],"with":[12],"the":[13,25,33,36,43,65,67,73,76,87,112,119,151,159,174,185,193],"INS":[14,44,162],"potentially":[15],"providing":[16],"reliable":[17],"positioning":[18],"during":[19],"short":[20],"GNSS":[21,30,143],"outages.":[22],"However,":[23],"event":[26],"of":[27,35,75,118,131,161,178],"a":[28,55,82,140],"prolonged":[29],"signal":[31],"outage,":[32],"performance":[34],"system":[37,108,156,168],"will":[38],"be":[39],"solely":[40],"dependent":[41],"solution,":[45],"which":[46,123],"can":[47],"lead":[48],"to":[49,63],"significant":[50],"drift":[51],"over":[52],"time.":[53],"As":[54],"result,":[56],"adding":[57],"more":[58],"onboard":[59],"sensors":[60],"is":[61,109,145],"crucial":[62],"mitigate":[64],"limitation":[66],"systems,":[69],"and":[70,92,95,114,134,182,188],"thereby":[71],"increase":[72],"robustness":[74],"system.":[78],"This":[79],"study":[80],"proposes":[81],"loosely-coupled":[83],"(LC)":[84],"integration":[85],"between":[86],"INS,":[88],"LiDAR":[89,199],"simultaneous":[90],"localization":[91],"mapping":[93],"(SLAM),":[94],"visual":[96],"SLAM":[97,154,200],"using":[98],"an":[99,170],"extended":[100],"Kalman":[101],"filter":[102],"(EKF).":[103],"The":[104,147,164],"developed":[105],"tested":[110],"residential":[113],"highway":[115],"drive":[116],"segments":[117],"raw":[120],"KITTI":[121],"dataset,":[122],"simulates":[124],"various":[125],"driving":[126,135],"outdoor":[127],"terms":[130],"feature":[132],"density":[133],"speed.":[136],"In":[137],"both":[138],"cases,":[139],"complete":[141],"artificial":[142],"outage":[144],"enforced.":[146],"results":[148],"show":[149],"that":[150],"proposed":[152,165,194],"INS/LiDAR/visual":[153],"drastically":[157],"outperforms":[158],"use":[160],"only.":[163],"yielded":[169],"average":[171],"reduction":[172],"root-mean-square":[175],"error":[176],"(RMSE)":[177],"approximately":[179],"95%,":[180],"87%,":[181],"53%,":[183],"east,":[186],"north,":[187],"up":[189],"directions,":[190],"respectively.":[191],"Finally,":[192],"algorithm":[195],"outperformed":[196],"considered":[197],"state-of-the-art":[198],"algorithms.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}