{"id":"https://openalex.org/W4413925814","doi":"https://doi.org/10.1109/icra55743.2025.11128310","title":"EAR-SLAM: Environment-Aware Robust Localization System for Terrestrial-Aerial Bimodal Vehicles","display_name":"EAR-SLAM: Environment-Aware Robust Localization System for Terrestrial-Aerial Bimodal Vehicles","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925814","doi":"https://doi.org/10.1109/icra55743.2025.11128310"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128310","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/A5100855092","display_name":"Wenjun He","orcid":null},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjun He","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103228304","display_name":"Xingpeng Wang","orcid":"https://orcid.org/0009-0007-3674-6014"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingpeng Wang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399542","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0001-9321-3395"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101451937","display_name":"Tianfu Zhang","orcid":"https://orcid.org/0000-0002-4931-2262"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianfu Zhang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086775306","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-5099-0060"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006918284","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0001-9076-9718"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052272297","display_name":"Yanjun Cao","orcid":"https://orcid.org/0000-0001-7771-849X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Cao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100855092"],"corresponding_institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.283054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1067","last_page":"1073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"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"}},"topics":[{"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"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":0.9975000023841858,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6678497195243835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6124764680862427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.423012912273407},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3941713571548462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36895817518234253},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3620830178260803},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2397308349609375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1880088448524475},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16763940453529358}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6678497195243835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6124764680862427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.423012912273407},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3941713571548462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36895817518234253},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3620830178260803},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2397308349609375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1880088448524475},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16763940453529358}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128310","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/G7104452795","display_name":null,"funder_award_id":"62103368","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1969726450","https://openalex.org/W1970504153","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2277848489","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2736960679","https://openalex.org/W2738259787","https://openalex.org/W2745859992","https://openalex.org/W2791866649","https://openalex.org/W2909908358","https://openalex.org/W2962987986","https://openalex.org/W2968618084","https://openalex.org/W2969022059","https://openalex.org/W3003464919","https://openalex.org/W3003813985","https://openalex.org/W3043971245","https://openalex.org/W3132919786","https://openalex.org/W4210269514","https://openalex.org/W4210423514","https://openalex.org/W4285742942","https://openalex.org/W4292544413","https://openalex.org/W4383503864","https://openalex.org/W4398788561","https://openalex.org/W4401416115"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Terrestrial-aerial":[0],"bimodal":[1],"vehicles":[2],"(TABVs)":[3],"can":[4,169],"fly":[5],"to":[6,15,35],"avoid":[7],"obstacles":[8],"and":[9,21,64,115,132,145,163,172,195],"move":[10],"safely":[11],"on":[12,176],"the":[13,38,44,55,148,155,167,177,193],"ground":[14,68,160],"save":[16],"energy,":[17],"offering":[18],"enhanced":[19],"adaptability":[20],"flexibility":[22],"in":[23,40,61,67],"various":[24,189],"challenging":[25,190],"environments.":[26],"However,":[27],"a":[28,33,94,107,123],"robust":[29,80,173],"localization":[30,81,98,174,182],"approach":[31],"becomes":[32],"bottleneck":[34],"stably":[36],"applying":[37],"TABVs":[39],"real-world":[41,201],"tasks.":[42],"Besides":[43],"general":[45],"limitations":[46],"of":[47,197],"visual":[48,164],"SLAM":[49],"methods,":[50],"large":[51],"FoV":[52],"differences":[53],"between":[54],"two":[56,90],"modes,":[57],"abrupt":[58],"motion":[59],"strikes":[60],"mode":[62,69],"transitions,":[63],"unstable":[65],"attitude":[66],"pose":[70],"great":[71],"challenges.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76,121,136,184],"present":[77],"an":[78,138],"environment-aware":[79],"system":[82,99,199],"specifically":[83],"designed":[84],"for":[85,200],"passive-wheel-based":[86],"TABVs,":[87],"which":[88],"feature":[89],"passive":[91],"wheels":[92],"alongside":[93],"standard":[95],"quadrotor.":[96],"The":[97],"tightly":[100],"integrates":[101],"data":[102],"from":[103],"multiple":[104],"sensors,":[105],"including":[106],"stereo":[108],"camera,":[109],"Inertial":[110],"Measurement":[111],"Units":[112],"(IMUs),":[113],"encoders,":[114],"single-point":[116],"laser":[117],"distance":[118],"sensors.":[119],"First,":[120],"introduce":[122],"terrain-aware":[124],"odometer":[125],"model":[126],"that":[127,141],"accurately":[128],"estimates":[129],"terrain":[130,161],"slope":[131],"vehicle's":[133],"velocity.":[134],"Then,":[135],"propose":[137],"anomaly-aware":[139],"method":[140],"senses":[142],"anomalous":[143],"sensors":[144],"dynamically":[146],"adjusts":[147],"optimization":[149],"weights":[150],"accordingly.":[151],"By":[152],"explicitly":[153],"estimating":[154],"environmental":[156],"conditions,":[157],"such":[158],"as":[159],"slopes":[162],"information":[165],"qualities,":[166],"robot":[168],"achieve":[170],"accurate":[171],"results":[175],"ground.":[178],"To":[179],"validate":[180],"our":[181,198],"approach,":[183],"conducted":[185],"extensive":[186],"experiments":[187],"across":[188],"scenarios,":[191],"demonstrating":[192],"effectiveness":[194],"reliability":[196],"applications.":[202]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
