{"id":"https://openalex.org/W4413925079","doi":"https://doi.org/10.1109/icra55743.2025.11127359","title":"Magnetometer-Calibrated Hybrid Transformer for Robust Inertial Tracking in Robotics","display_name":"Magnetometer-Calibrated Hybrid Transformer for Robust Inertial Tracking in Robotics","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925079","doi":"https://doi.org/10.1109/icra55743.2025.11127359"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5101337895","display_name":"Xinzhe Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Xinzhe Zheng","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108972420","display_name":"Sijie Ji","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Sijie Ji","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101806495","display_name":"Yipeng Pan","orcid":"https://orcid.org/0009-0007-2195-4339"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yipeng Pan","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025108369","display_name":"Kaiwen Zhang","orcid":"https://orcid.org/0000-0002-5599-0190"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Kaiwen Zhang","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080848262","display_name":"Chenshu Wu","orcid":"https://orcid.org/0000-0002-9700-4627"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Chenshu Wu","raw_affiliation_strings":["School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China"],"affiliations":[{"raw_affiliation_string":"School of Computing and Data Science, The University of Hong Kong,Hong Kong SAR,China","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101337895"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.4842,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9378054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"16102","last_page":"16108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987999796867371,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.7935620546340942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6815634965896606},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6155697703361511},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5672725439071655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.557763934135437},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.523448646068573},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5211932063102722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5172175168991089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37126845121383667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2598302364349365},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.22056567668914795},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15865585207939148},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.14289507269859314},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09857514500617981},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07148990035057068}],"concepts":[{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.7935620546340942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6815634965896606},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6155697703361511},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5672725439071655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.557763934135437},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.523448646068573},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5211932063102722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5172175168991089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37126845121383667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2598302364349365},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.22056567668914795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15865585207939148},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.14289507269859314},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09857514500617981},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07148990035057068},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7389488873","display_name":null,"funder_award_id":"17212224","funder_id":"https://openalex.org/F4320306709","funder_display_name":"Glaucoma Research Foundation"},{"id":"https://openalex.org/G8676120579","display_name":null,"funder_award_id":"62222216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306709","display_name":"Glaucoma Research Foundation","ror":"https://ror.org/05ez53b31"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1974531087","https://openalex.org/W2021851106","https://openalex.org/W2080607723","https://openalex.org/W2116068514","https://openalex.org/W2139362983","https://openalex.org/W2296228853","https://openalex.org/W2527126448","https://openalex.org/W2531409750","https://openalex.org/W2769137718","https://openalex.org/W2777396910","https://openalex.org/W2889351375","https://openalex.org/W2897886597","https://openalex.org/W2963423603","https://openalex.org/W2964110616","https://openalex.org/W2968288611","https://openalex.org/W2991389607","https://openalex.org/W3011303424","https://openalex.org/W3015551381","https://openalex.org/W3038975720","https://openalex.org/W3097777922","https://openalex.org/W3109228974","https://openalex.org/W3120612350","https://openalex.org/W3133648073","https://openalex.org/W3134432446","https://openalex.org/W3174183721","https://openalex.org/W3203701986","https://openalex.org/W3207365944","https://openalex.org/W3211510458","https://openalex.org/W4200632095","https://openalex.org/W4220708835","https://openalex.org/W4285102332","https://openalex.org/W4292265615","https://openalex.org/W4312353456","https://openalex.org/W4312571988","https://openalex.org/W4312720728","https://openalex.org/W4312790214","https://openalex.org/W4313156720","https://openalex.org/W4385245566"],"related_works":["https://openalex.org/W2074940407","https://openalex.org/W2035596186","https://openalex.org/W2885295284","https://openalex.org/W2398658113","https://openalex.org/W309521798","https://openalex.org/W1502875874","https://openalex.org/W4407881163","https://openalex.org/W4302027234","https://openalex.org/W1905009105","https://openalex.org/W2138929496"],"abstract_inverted_index":{"Inertial":[0,16],"tracking":[1,23,108],"is":[2],"vital":[3],"for":[4,87],"autonomous":[5],"robots":[6],"and":[7,20,67,138,148],"has":[8],"gained":[9],"popularity":[10],"with":[11],"the":[12,38,45,50,130,146],"ubiquity":[13],"of":[14,40,84],"low-cost":[15],"Measurement":[17],"Units":[18],"(IMUs)":[19],"deep":[21,41],"learning-powered":[22],"algorithms.":[24],"Existing":[25],"works,":[26],"however,":[27],"have":[28],"not":[29],"fully":[30,76],"utilized":[31],"IMU":[32,78],"measurements,":[33],"particularly":[34],"magnetometers,":[35],"nor":[36],"maximized":[37],"potential":[39],"learning":[42],"to":[43,69,129,150],"achieve":[44],"desired":[46],"accuracy.":[47],"To":[48,75],"bridge":[49],"gap,":[51],"we":[52,80],"introduce":[53],"NeurIT,":[54],"which":[55],"employs":[56],"a":[57,91,104,111],"Time-Frequency":[58],"Block-recurrent":[59],"Transformer":[60,68],"(TF-BRT)":[61],"at":[62],"its":[63],"core,":[64],"combining":[65],"RNN":[66],"learn":[70],"both":[71],"time-frequency":[72],"representative":[73],"features.":[74],"utilize":[77],"information,":[79],"strategically":[81],"employ":[82],"differentiation":[83],"body-frame":[85],"magnetometers":[86],"orientation":[88],"calibration":[89],"in":[90,97,135,141],"sensor":[92],"fusion":[93],"manner.":[94],"Experiments":[95],"conducted":[96],"diverse":[98],"environments":[99],"show":[100],"that":[101],"NeurIT":[102,125],"maintains":[103],"mere":[105],"1":[106],"-meter":[107],"error":[109],"over":[110],"300":[112],"-":[113],"meter":[114],"distance,":[115],"surpassing":[116],"state-of-the-art":[117],"baselines":[118],"by":[119],"48.21":[120],"%":[121],"on":[122],"unseen":[123],"data.":[124],"also":[126],"performs":[127],"comparably":[128],"visual-inertial":[131],"approach":[132],"(Tango":[133],"Phone)":[134],"vision-favored":[136],"conditions":[137],"surpasses":[139],"it":[140],"plain":[142],"environments.":[143],"We":[144],"share":[145],"code":[147],"data":[149],"promote":[151],"further":[152],"research:":[153],"https://github.com/aiot-lab/NeurIT.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}