{"id":"https://openalex.org/W4312851330","doi":"https://doi.org/10.1109/iros47612.2022.9981108","title":"MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation","display_name":"MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312851330","doi":"https://doi.org/10.1109/iros47612.2022.9981108"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981108","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11250/3047985","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024717956","display_name":"Nikhil Khedekar","orcid":"https://orcid.org/0000-0002-1340-4894"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Nikhil Khedekar","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103071464","display_name":"Mihir Kulkarni","orcid":"https://orcid.org/0000-0003-0895-5867"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Mihir Kulkarni","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024717956"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":5.2874,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97484224,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7153","last_page":"7159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.989300012588501,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7419180274009705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6583570241928101},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6183603405952454},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6093732118606567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6015300154685974},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5902499556541443},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5625665783882141},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5398968458175659},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4943716526031494},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4754202961921692},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.4514365792274475},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4349946975708008},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4109506607055664},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3258211016654968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1927565336227417}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7419180274009705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6583570241928101},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6183603405952454},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6093732118606567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6015300154685974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5902499556541443},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5625665783882141},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5398968458175659},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4943716526031494},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4754202961921692},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.4514365792274475},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4349946975708008},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4109506607055664},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3258211016654968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1927565336227417},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981108","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3047985","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3047985","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"7153-7159","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3047985","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3047985","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"7153-7159","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3605603371","display_name":null,"funder_award_id":"317773","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W2127752689","https://openalex.org/W2139137304","https://openalex.org/W2161123599","https://openalex.org/W2296228853","https://openalex.org/W2419212966","https://openalex.org/W2888422218","https://openalex.org/W2919409595","https://openalex.org/W2968390259","https://openalex.org/W3003175783","https://openalex.org/W3092218351","https://openalex.org/W3098410961","https://openalex.org/W3106302529","https://openalex.org/W3126830741","https://openalex.org/W3129245057","https://openalex.org/W3129883472","https://openalex.org/W3132323429","https://openalex.org/W3159400523","https://openalex.org/W3160079326","https://openalex.org/W3182193940","https://openalex.org/W3206845495","https://openalex.org/W3212821697","https://openalex.org/W4237777791","https://openalex.org/W4246614213","https://openalex.org/W4288047667","https://openalex.org/W4299283289","https://openalex.org/W6685664056","https://openalex.org/W6756486208","https://openalex.org/W6795204598","https://openalex.org/W6803834259","https://openalex.org/W6844241461"],"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/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11],"framework":[4,109],"for":[5,47,113],"Multi-Modal":[6],"SLAM":[7],"(MIMOSA)":[8],"that":[9],"utilizes":[10,70],"nonlinear":[12],"factor":[13],"graph":[14],"as":[15,61,63,76],"the":[16,31,71,90],"underlying":[17],"representation":[18],"to":[19,30,84,87,103],"provide":[20],"loosely-coupled":[21],"fusion":[22,50],"of":[23,26,33,51,94],"any":[24],"number":[25],"sensing":[27],"modalities.":[28],"Tailored":[29],"goal":[32],"enabling":[34],"resilient":[35],"robotic":[36,128],"autonomy":[37],"in":[38],"GPS-denied":[39],"and":[40,58,92,119,133],"perceptually-degraded":[41],"environments,":[42],"MIMOSA":[43],"currently":[44],"contains":[45],"modules":[46],"pointcloud":[48],"registration,":[49],"multiple":[52],"odometry":[53],"estimates":[54,72],"relying":[55],"on":[56,123],"visible-light":[57],"thermal":[59],"vision,":[60],"well":[62],"inertial":[64],"measurement":[65],"propagation.":[66],"A":[67],"flexible":[68],"back-end":[69],"from":[73,125],"various":[74],"modalities":[75],"relative":[77],"transformation":[78],"factors.":[79],"The":[80],"method":[81],"is":[82],"designed":[83],"be":[85],"robust":[86],"degeneracy":[88],"through":[89],"maintenance":[91],"tracking":[93],"modality-specific":[95],"health":[96],"metrics,":[97],"while":[98],"also":[99],"being":[100],"inherently":[101],"tolerant":[102],"sensor":[104,117],"failure.":[105],"We":[106],"detail":[107],"this":[108],"alongside":[110],"our":[111],"implementation":[112],"handling":[114],"high-rate":[115],"asynchronous":[116],"measurements":[118],"evaluate":[120],"its":[121],"performance":[122],"data":[124],"autonomous":[126],"subterranean":[127],"exploration":[129],"missions":[130],"using":[131],"legged":[132],"aerial":[134],"robots.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}