{"id":"https://openalex.org/W4416748942","doi":"https://doi.org/10.1109/iros60139.2025.11247398","title":"Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds","display_name":"Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748942","doi":"https://doi.org/10.1109/iros60139.2025.11247398"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5021562633","display_name":"A. R. Raab","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101150","display_name":"Baxter (Austria)","ror":"https://ror.org/013xmn143","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210101150","https://openalex.org/I99484792"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Alexander Raab","raw_affiliation_strings":["AGILOX Services GmbH,Austria"],"affiliations":[{"raw_affiliation_string":"AGILOX Services GmbH,Austria","institution_ids":["https://openalex.org/I4210101150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["University of Klagenfurt,Control of Networked Systems Group,Austria"],"affiliations":[{"raw_affiliation_string":"University of Klagenfurt,Control of Networked Systems Group,Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088855536","display_name":"Alessandro Fornasier","orcid":"https://orcid.org/0000-0002-1774-3236"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Alessandro Fornasier","raw_affiliation_strings":["University of Klagenfurt,Control of Networked Systems Group,Austria"],"affiliations":[{"raw_affiliation_string":"University of Klagenfurt,Control of Networked Systems Group,Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068613728","display_name":"Christian Brommer","orcid":"https://orcid.org/0000-0002-2801-2172"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Brommer","raw_affiliation_strings":["University of Klagenfurt,Control of Networked Systems Group,Austria"],"affiliations":[{"raw_affiliation_string":"University of Klagenfurt,Control of Networked Systems Group,Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057315943","display_name":"Abdalrahman Ibrahim","orcid":"https://orcid.org/0009-0005-8184-230X"},"institutions":[{"id":"https://openalex.org/I4210101150","display_name":"Baxter (Austria)","ror":"https://ror.org/013xmn143","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210101150","https://openalex.org/I99484792"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Abdalrahman Ibrahim","raw_affiliation_strings":["AGILOX Services GmbH,Austria"],"affiliations":[{"raw_affiliation_string":"AGILOX Services GmbH,Austria","institution_ids":["https://openalex.org/I4210101150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021562633"],"corresponding_institution_ids":["https://openalex.org/I4210101150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43959487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4976","last_page":"4981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8389999866485596,"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":0.8389999866485596,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.07370000332593918,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.021700000390410423,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/kalman-filter","display_name":"Kalman filter","score":0.6628000140190125},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6345000267028809},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5476999878883362},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5144000053405762},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5088000297546387},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5011000037193298},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4584999978542328},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.435699999332428}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6628000140190125},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6345000267028809},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5476999878883362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5227000117301941},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5144000053405762},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5088000297546387},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5011000037193298},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4584999978542328},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4366999864578247},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.435699999332428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37450000643730164},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3393000066280365},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.2833000123500824},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.259799987077713},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2006373631","https://openalex.org/W2011683635","https://openalex.org/W2076414096","https://openalex.org/W2093077928","https://openalex.org/W2168004776","https://openalex.org/W2336416123","https://openalex.org/W2888422218","https://openalex.org/W2895006792","https://openalex.org/W2964029185","https://openalex.org/W2999060662","https://openalex.org/W3004699108","https://openalex.org/W3012386190","https://openalex.org/W3111025201","https://openalex.org/W3122767460","https://openalex.org/W3136130522","https://openalex.org/W3196832763","https://openalex.org/W3206796862","https://openalex.org/W4224310853","https://openalex.org/W4286373328"],"related_works":[],"abstract_inverted_index":{"Aiming":[0],"to":[1],"enhance":[2],"the":[3,20,30,39,78,83,97,141,156],"consistency":[4,150],"and":[5,69,73,105,135,151],"thus":[6],"long-term":[7],"accuracy":[8],"of":[9,149,168],"Extended":[10,24],"Kalman":[11,25],"Filters":[12],"for":[13,77,158],"terrestrial":[14],"vehicle":[15],"localization,":[16],"this":[17],"paper":[18],"introduces":[19],"Manifold":[21],"Error":[22],"State":[23],"Filter":[26],"(M-ESEKF).":[27],"By":[28],"representing":[29],"robot\u2019s":[31],"pose":[32],"in":[33,147,165],"a":[34,57,87,117,166],"space":[35],"with":[36,66,125],"reduced":[37],"dimensionality,":[38],"approach":[40],"ensures":[41],"feasible":[42],"estimates":[43],"on":[44],"generic":[45],"smooth":[46],"surfaces,":[47],"without":[48],"introducing":[49,86],"artificial":[50],"constraints":[51],"or":[52],"simplifications":[53],"that":[54,91,140],"may":[55],"degrade":[56],"filter\u2019s":[58],"performance.":[59],"The":[60,110],"accompanying":[61],"measurement":[62],"models":[63],"are":[64],"compatible":[65],"common":[67],"loosely-":[68],"tightly-coupled":[70],"sensor":[71,98,137],"modalities":[72],"also":[74],"implicitly":[75],"account":[76],"ground":[79],"geometry.":[80],"We":[81],"extend":[82],"formulation":[84],"by":[85],"novel":[88],"correction":[89],"scheme":[90],"embeds":[92],"additional":[93],"domain":[94],"knowledge":[95],"into":[96,116],"data,":[99],"giving":[100],"more":[101],"accurate":[102],"uncertainty":[103],"approximations":[104],"further":[106],"enhancing":[107],"filter":[108,145],"consistency.":[109],"proposed":[111],"estimator":[112],"is":[113],"seamlessly":[114],"integrated":[115],"validated":[118],"modular":[119],"state":[120],"estimation":[121],"framework,":[122],"demonstrating":[123],"compatibility":[124],"existing":[126],"implementations.":[127],"Extensive":[128],"Monte":[129],"Carlo":[130],"simulations":[131],"across":[132],"diverse":[133],"scenarios":[134],"dynamic":[136],"configurations":[138],"show":[139],"M-ESEKF":[142],"outperforms":[143],"classical":[144],"formulations":[146],"terms":[148],"stability.":[152],"Moreover,":[153],"it":[154],"eliminates":[155],"need":[157],"scenario-specific":[159],"parameter":[160],"tuning,":[161],"enabling":[162],"its":[163],"application":[164],"variety":[167],"real-world":[169],"settings.":[170]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
