{"id":"https://openalex.org/W7140236130","doi":"https://doi.org/10.1109/jiot.2026.3677198","title":"VID-SLAM: A Robust Visual\u2013Inertial\u2013DVL Tightly Coupled Localization Method for Underwater Robots","display_name":"VID-SLAM: A Robust Visual\u2013Inertial\u2013DVL Tightly Coupled Localization Method for Underwater Robots","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140236130","doi":"https://doi.org/10.1109/jiot.2026.3677198"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2026.3677198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3677198","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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":null,"display_name":"Chang Wu","orcid":"https://orcid.org/0000-0003-2349-2549"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wu","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-2349-2549","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ziwei Song","orcid":"https://orcid.org/0009-0004-4233-3978"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwei Song","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0004-4233-3978","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qiyan Li","orcid":"https://orcid.org/0009-0002-6294-6611"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyan Li","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0002-6294-6611","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lang Ming","orcid":"https://orcid.org/0009-0006-4563-9889"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Ming","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0006-4563-9889","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qiucen Li","orcid":"https://orcid.org/0009-0002-9039-683X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiucen Li","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0002-9039-683X","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":null,"display_name":"Junhai Luo","orcid":"https://orcid.org/0000-0002-8435-007X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhai Luo","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-8435-007X","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35356341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"11","first_page":"25016","last_page":"25033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.7366999983787537,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.7366999983787537,"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":0.20759999752044678,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.011099999770522118,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8564000129699707},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.824999988079071},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5558000206947327},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5552999973297119},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49779999256134033},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.47110000252723694},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.45660001039505005},{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.4487999975681305}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8564000129699707},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.824999988079071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7795000076293945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5580999851226807},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5558000206947327},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5552999973297119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5435000061988831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.47110000252723694},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.45660001039505005},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.4487999975681305},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4325000047683716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3695000112056732},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3515999913215637},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3305000066757202},{"id":"https://openalex.org/C2986737936","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Time synchronization","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29429998993873596},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.2858999967575073},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.2849999964237213},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2777000069618225},{"id":"https://openalex.org/C5134670","wikidata":"https://www.wikidata.org/wiki/Q1626444","display_name":"Cut","level":4,"score":0.2727000117301941}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2026.3677198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3677198","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6484367251396179,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1,14,115,123],"and":[2,65,78,104,117,132],"mapping":[3],"(SLAM)":[4],"has":[5],"emerged":[6],"as":[7],"a":[8,23,42,66,92,133],"promising":[9],"solution":[10],"to":[11,48,59,73,120],"address":[12],"the":[13,50,75,108,129],"challenges":[15],"faced":[16],"by":[17],"underwater":[18,36,102,122,135],"robots.":[19],"This":[20],"work":[21],"proposes":[22],"factor":[24],"graph":[25],"optimization-based":[26],"Visual-Inertial-Doppler":[27],"Velocity":[28],"Log":[29],"(DVL)":[30],"tightly-coupled":[31],"SLAM":[32],"method":[33,47,110,131],"designed":[34],"for":[35],"robot":[37],"localization.":[38],"The":[39,125],"approach":[40],"introduces":[41],"novel":[43],"DVL":[44,53,63,67],"residual":[45],"construction":[46],"maximize":[49],"utility":[51],"of":[52,128],"measurements.":[54],"IMU":[55],"data":[56,80],"is":[57,71,97],"integrated":[58],"detect":[60],"anomalies":[61],"in":[62,86,114],"measurements,":[64],"synchronization":[68],"marking":[69],"strategy":[70,96],"developed":[72],"enhance":[74],"method\u2019s":[76],"applicability":[77],"strengthen":[79],"associations.":[81],"To":[82],"improve":[83],"system":[84],"robustness":[85,118],"scenarios":[87],"where":[88],"visual":[89],"tracking":[90],"fails,":[91],"new":[93],"sliding":[94],"window":[95],"incorporated.":[98],"Experimental":[99],"results":[100],"on":[101],"datasets":[103],"simulations":[105],"demonstrate":[106],"that":[107],"proposed":[109,130],"achieves":[111],"significant":[112],"improvements":[113],"accuracy":[116],"compared":[119],"existing":[121],"algorithms.":[124],"implementation":[126],"code":[127],"simulated":[134],"dataset":[136],"can":[137],"be":[138],"accessed":[139],"at":[140],"https://github.":[141],"com/uestc-icsp/VID-SLAM.":[142]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-03-25T00:00:00"}
