{"id":"https://openalex.org/W4413945189","doi":"https://doi.org/10.1109/icra55743.2025.11128550","title":"Neural Ranging Inertial Odometry","display_name":"Neural Ranging Inertial Odometry","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945189","doi":"https://doi.org/10.1109/icra55743.2025.11128550"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128550","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":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.10531","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100651867","display_name":"Si Wang","orcid":"https://orcid.org/0000-0003-2431-0612"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Si Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052101458","display_name":"Bingqi Shen","orcid":null},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingqi Shen","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103389321","display_name":"Fei Wang","orcid":"https://orcid.org/0009-0003-3031-2814"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fei Wang","raw_affiliation_strings":["Beijing Institute of Electronic System Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Electronic System Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435445","display_name":"Yanjun Cao","orcid":"https://orcid.org/0009-0004-8458-5663"},"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":"Yanjun Cao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101528125","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0002-4223-0707"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100372089","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0146-7262"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22034626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9377","last_page":"9383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9501000046730042,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9501000046730042,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.8828989267349243},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7653999328613281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5046581029891968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4815531075000763},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.44362160563468933},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.399149090051651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13875168561935425},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1209002435207367},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11337998509407043},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.048058271408081055}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.8828989267349243},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7653999328613281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5046581029891968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4815531075000763},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.44362160563468933},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.399149090051651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13875168561935425},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1209002435207367},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11337998509407043},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.048058271408081055},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128550","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"},{"id":"pmh:oai:arXiv.org:2512.10531","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.10531","pdf_url":"https://arxiv.org/pdf/2512.10531","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.10531","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.10531","pdf_url":"https://arxiv.org/pdf/2512.10531","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4611955052","display_name":null,"funder_award_id":"62373322","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"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413945189.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W591296147","https://openalex.org/W2085069379","https://openalex.org/W2091790851","https://openalex.org/W2115969888","https://openalex.org/W2788056275","https://openalex.org/W2884280313","https://openalex.org/W2919203733","https://openalex.org/W2945356051","https://openalex.org/W2963423603","https://openalex.org/W2995695986","https://openalex.org/W3003233851","https://openalex.org/W3008563426","https://openalex.org/W3014130312","https://openalex.org/W3035025758","https://openalex.org/W3038975720","https://openalex.org/W3047890446","https://openalex.org/W3085875475","https://openalex.org/W3089639240","https://openalex.org/W3090160518","https://openalex.org/W3097300053","https://openalex.org/W3123909522","https://openalex.org/W3126771108","https://openalex.org/W3134172943","https://openalex.org/W3180277944","https://openalex.org/W3210771139","https://openalex.org/W4205319636","https://openalex.org/W4223656432","https://openalex.org/W4287958356","https://openalex.org/W4323065891","https://openalex.org/W4379034021","https://openalex.org/W4383108455","https://openalex.org/W4383109129","https://openalex.org/W4391543839","https://openalex.org/W4401943164"],"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":{"Ultra-wideband":[0],"(UWB)":[1],"has":[2],"shown":[3],"promising":[4],"potential":[5],"in":[6,21,43,145],"GPS-denied":[7],"localization":[8],"thanks":[9],"to":[10,25,28,83],"its":[11,26],"lightweight":[12],"and":[13,31,68,81,101,110,114,127,133,155],"drift-free":[14],"characteristics,":[15],"while":[16],"the":[17,96,102,139,152],"accuracy":[18],"is":[19,162],"limited":[20],"real":[22],"scenarios":[23,150],"due":[24],"sensitivity":[27],"sensor":[29],"arrangement":[30],"non-Gaussian":[32],"pattern":[33],"induced":[34],"by":[35],"multi-path":[36],"or":[37,88],"multi-signal":[38],"interference,":[39],"which":[40,61],"commonly":[41],"occurs":[42],"many":[44],"typical":[45],"applications":[46],"like":[47],"long":[48],"tunnels.":[49],"We":[50],"introduce":[51],"a":[52,63,69,159],"novel":[53],"neural":[54,71],"fusion":[55],"framework":[56],"for":[57],"ranging":[58,79],"inertial":[59,72],"odometry":[60],"involves":[62],"graph":[64,75],"attention":[65],"UWB":[66],"network":[67],"recurrent":[70],"network.":[73],"Our":[74],"net":[76],"learns":[77],"scene-relevant":[78],"patterns":[80],"adapts":[82],"any":[84],"number":[85],"of":[86,98,104,116,141],"anchors":[87],"tags,":[89],"realizing":[90],"accurate":[91],"positioning":[92],"without":[93],"calibration.":[94],"Additionally,":[95],"integration":[97],"least":[99],"squares":[100],"incorporation":[103],"nominal":[105],"frame":[106],"enhance":[107],"overall":[108],"performance":[109],"scalability.":[111],"The":[112,136],"effectiveness":[113],"robustness":[115],"our":[117,142],"methods":[118],"are":[119],"validated":[120],"through":[121],"extensive":[122],"experiments":[123],"on":[124],"both":[125],"public":[126],"self-collected":[128],"datasets,":[129],"spanning":[130],"indoor,":[131],"outdoor,":[132],"tunnel":[134],"environments.":[135],"results":[137],"demonstrate":[138],"superiority":[140],"proposed":[143],"IR-ULSG":[144],"handling":[146],"challenging":[147],"conditions,":[148],"including":[149],"outside":[151],"convex":[153],"envelope":[154],"cases":[156],"where":[157],"only":[158],"single":[160],"anchor":[161],"available.":[163]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-09-03T00:00:00"}
