{"id":"https://openalex.org/W3131025042","doi":"https://doi.org/10.1109/icmla51294.2020.00121","title":"Learning Uncertainties in Wheel Odometry for Vehicular Localisation in GNSS Deprived Environments","display_name":"Learning Uncertainties in Wheel Odometry for Vehicular Localisation in GNSS Deprived Environments","publication_year":2020,"publication_date":"2020-12-01","ids":{"openalex":"https://openalex.org/W3131025042","doi":"https://doi.org/10.1109/icmla51294.2020.00121","mag":"3131025042"},"language":"en","primary_location":{"id":"doi:10.1109/icmla51294.2020.00121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmla51294.2020.00121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 19th IEEE International Conference on Machine Learning and Applications (ICMLA)","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/A5069535352","display_name":"Uche Onyekpe","orcid":"https://orcid.org/0000-0001-8033-9394"},"institutions":[{"id":"https://openalex.org/I73417466","display_name":"Coventry University","ror":"https://ror.org/01tgmhj36","country_code":"GB","type":"education","lineage":["https://openalex.org/I73417466"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Uche Onyekpe","raw_affiliation_strings":["Research Centre for Data Science and Institute for Future Transport and Cities, Coventry University, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Research Centre for Data Science and Institute for Future Transport and Cities, Coventry University, Coventry, United Kingdom","institution_ids":["https://openalex.org/I73417466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076935774","display_name":"Vasile Palade","orcid":"https://orcid.org/0000-0002-6768-8394"},"institutions":[{"id":"https://openalex.org/I73417466","display_name":"Coventry University","ror":"https://ror.org/01tgmhj36","country_code":"GB","type":"education","lineage":["https://openalex.org/I73417466"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vasile Palade","raw_affiliation_strings":["Research Centre for Data Science, Coventry University, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Research Centre for Data Science, Coventry University, Coventry, United Kingdom","institution_ids":["https://openalex.org/I73417466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046262492","display_name":"Stratis Kanarachos","orcid":"https://orcid.org/0000-0002-0096-4016"},"institutions":[{"id":"https://openalex.org/I73417466","display_name":"Coventry University","ror":"https://ror.org/01tgmhj36","country_code":"GB","type":"education","lineage":["https://openalex.org/I73417466"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stratis Kanarachos","raw_affiliation_strings":["Faculty of Engineering and Computing, Coventry University, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Computing, Coventry University, Coventry, United Kingdom","institution_ids":["https://openalex.org/I73417466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010336935","display_name":"Stavros\u2010Richard G. Christopoulos","orcid":"https://orcid.org/0000-0002-8468-2998"},"institutions":[{"id":"https://openalex.org/I73417466","display_name":"Coventry University","ror":"https://ror.org/01tgmhj36","country_code":"GB","type":"education","lineage":["https://openalex.org/I73417466"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stavros-Richard G. Christopoulos","raw_affiliation_strings":["Faculty of Engineering and Computing, Coventry University, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Computing, Coventry University, Coventry, United Kingdom","institution_ids":["https://openalex.org/I73417466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069535352"],"corresponding_institution_ids":["https://openalex.org/I73417466"],"apc_list":null,"apc_paid":null,"fwci":1.2329,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.7994774,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"741","last_page":"746"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9966999888420105,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/odometry","display_name":"Odometry","score":0.8136314749717712},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7843273878097534},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7189018726348877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6765891909599304},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5976734757423401},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.488064169883728},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4755924940109253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44201287627220154},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.42979955673217773},{"id":"https://openalex.org/keywords/beidou-navigation-satellite-system","display_name":"BeiDou Navigation Satellite System","score":0.4229907989501953},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41885149478912354},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4128609299659729},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.37107300758361816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16314342617988586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15918663144111633}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8136314749717712},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7843273878097534},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7189018726348877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765891909599304},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5976734757423401},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.488064169883728},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4755924940109253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44201287627220154},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.42979955673217773},{"id":"https://openalex.org/C2777783341","wikidata":"https://www.wikidata.org/wiki/Q857141","display_name":"BeiDou Navigation Satellite System","level":4,"score":0.4229907989501953},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41885149478912354},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4128609299659729},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.37107300758361816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16314342617988586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15918663144111633},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icmla51294.2020.00121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmla51294.2020.00121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 19th IEEE International Conference on Machine Learning and Applications (ICMLA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/f5f6551c-4ed5-4bf9-b887-7d8c406ded4b","is_oa":false,"landing_page_url":"https://pureportal.coventry.ac.uk/en/publications/learning-uncertainties-in-wheel-odometry-for-vehicular-localisation-in-gnss-deprived-environments(f5f6551c-4ed5-4bf9-b887-7d8c406ded4b).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402411","display_name":"Pure (Coventry University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I73417466","host_organization_name":"Coventry University","host_organization_lineage":["https://openalex.org/I73417466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Onyekpe, U A, Palade, V, Kanarachos, S & Christopoulos, S 2021, Learning Uncertainties in Wheel Odometry for Vehicular Localisation in GNSS Deprived Environments. in M A Wani, F Luo, X Li, D Dou & F Bonchi (eds), 2020 19th IEEE International Conference on Machine Learning and Applications (ICMLA)., 9356239, Proceedings - 19th IEEE International Conference on Machine Learning and Applications, ICMLA 2020, IEEE, pp. 741-746, IEEE 19th International Conference on Machine Learning Applications , Miami, Florida, United States, 14/12/20. https://doi.org/10.1109/ICMLA51294.2020.00121","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1529884807","https://openalex.org/W1650337885","https://openalex.org/W1996248793","https://openalex.org/W2000997774","https://openalex.org/W2023857726","https://openalex.org/W2033593649","https://openalex.org/W2076924667","https://openalex.org/W2118351673","https://openalex.org/W2157331557","https://openalex.org/W2565104410","https://openalex.org/W2963423603","https://openalex.org/W2968936678","https://openalex.org/W2999466041","https://openalex.org/W3088812960","https://openalex.org/W3104978629","https://openalex.org/W3126682051","https://openalex.org/W3129778597","https://openalex.org/W6747834056","https://openalex.org/W6776119265","https://openalex.org/W6783814861","https://openalex.org/W6784408090"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W4313886815"],"abstract_inverted_index":{"Inertial":[0],"Navigation":[1,15],"Systems":[2,17],"(INS)":[3],"are":[4,22],"commonly":[5],"used":[6],"to":[7,37,50,78,169,172,177],"localise":[8],"vehicles":[9],"in":[10,83,95,122,152],"the":[11,32,44,51,54,61,65,71,80,84,96,127,162,178],"absence":[12],"of":[13,53,67,107],"Global":[14],"Satellite":[16],"(GNSS)":[18],"signals.":[19],"However,":[20],"they":[21],"plagued":[23],"by":[24],"noises,":[25],"which":[26],"grow":[27],"exponentially":[28],"over":[29],"time":[30,63],"during":[31],"triple":[33],"integration":[34,120],"computation,":[35,124],"leading":[36],"a":[38,105,130,136],"poor":[39],"navigation":[40],"solution.":[41],"We":[42],"explore":[43],"wheel":[45,85,102,163],"encoder":[46],"as":[47,93,104,147],"an":[48],"alternative":[49],"accelerometer":[52,180],"INS":[55,179],"for":[56,60,129,143],"positional":[57],"tracking,":[58],"and":[59,155],"first":[62],"investigate":[64],"capability":[66],"deep":[68],"learning":[69],"using":[70],"Long":[72],"Short-Term":[73],"Memory":[74],"(LSTM)":[75],"neural":[76],"network":[77],"learn":[79],"uncertainty":[81],"inherent":[82],"speed":[86],"measurements.":[87],"These":[88],"uncertainties":[89],"could":[90],"be":[91],"manifested":[92],"changes":[94,151],"tyre":[97],"size":[98],"or":[99,101,111],"pressure,":[100],"slips":[103],"result":[106],"worn":[108],"out":[109],"tyres":[110],"wet/muddy":[112,156],"road":[113,157],"drive.":[114],"The":[115],"proposed":[116],"solution":[117],"has":[118],"less":[119],"steps":[121],"its":[123],"therefore":[125],"providing":[126],"potential":[128],"more":[131],"accurate":[132],"positioning":[133,165],"estimation.":[134],"Through":[135],"performance":[137],"evaluation":[138],"on":[139],"several":[140],"challenging":[141],"scenarios":[142],"vehicular":[144,153],"driving,":[145,158],"such":[146],"hard":[148],"braking,":[149],"quick":[150],"acceleration,":[154],"we":[159],"show":[160],"that":[161],"speed-based":[164],"approach":[166],"is":[167],"able":[168],"achieve":[170],"up":[171],"81.46":[173],"%":[174],"improvement":[175],"compared":[176],"approach.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}