{"id":"https://openalex.org/W4210535038","doi":"https://doi.org/10.1109/lra.2022.3145094","title":"Electric Sense Based Pose Estimation and Localization for Small Underwater Robots","display_name":"Electric Sense Based Pose Estimation and Localization for Small Underwater Robots","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W4210535038","doi":"https://doi.org/10.1109/lra.2022.3145094"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3145094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145094","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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":"https://openalex.org/A5050962203","display_name":"Junzheng Zheng","orcid":"https://orcid.org/0000-0003-2682-7869"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzheng Zheng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2682-7869","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060095984","display_name":"Chayutpon Huntrakul","orcid":"https://orcid.org/0000-0001-8604-3703"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chayutpon Huntrakul","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112248828","display_name":"Xin Guo","orcid":"https://orcid.org/0000-0003-0830-0860"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Guo","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001586420","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4484-8885"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["National Engineering Research Center of Software Engineering, Peking University, Beijing, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4484-8885","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Software Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["Institute of Ocean Research, Peking University, Beijing, China","Peng Cheng Laboratory, Shenzhen, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6504-0087","affiliations":[{"raw_affiliation_string":"Institute of Ocean Research, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3013,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87016404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"2835","last_page":"2842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12014","display_name":"Fish biology, ecology, and behavior","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6902620792388916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5626519918441772},{"id":"https://openalex.org/keywords/electric-field","display_name":"Electric field","score":0.5544923543930054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5511356592178345},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46387043595314026},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4442934989929199},{"id":"https://openalex.org/keywords/electric-fish","display_name":"Electric fish","score":0.44091540575027466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.416074275970459},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11086845397949219},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0785798728466034}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6902620792388916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5626519918441772},{"id":"https://openalex.org/C60799052","wikidata":"https://www.wikidata.org/wiki/Q46221","display_name":"Electric field","level":2,"score":0.5544923543930054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5511356592178345},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46387043595314026},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4442934989929199},{"id":"https://openalex.org/C140658175","wikidata":"https://www.wikidata.org/wiki/Q1394029","display_name":"Electric fish","level":3,"score":0.44091540575027466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.416074275970459},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11086845397949219},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0785798728466034},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3145094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145094","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8299999833106995}],"awards":[{"id":"https://openalex.org/G2616550356","display_name":"\u8fd1\u6d45\u6d77\u6c34\u4e0b\u6355\u635e\u673a\u5668\u4eba\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61633002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5913841555","display_name":null,"funder_award_id":"4192026","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6824663452","display_name":"\u53d7\u751f\u7269\u542f\u53d1\u7684\u591a\u6c34\u4e0b\u673a\u5668\u4eba\u73af\u5883\u81ea\u9002\u5e94\u96c6\u7fa4\u534f\u4f5c\u63a7\u5236\u65b9\u6cd5\u53ca\u5b9e\u9a8c\u7814\u7a76","funder_award_id":"61973007","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/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W561217659","https://openalex.org/W1562314530","https://openalex.org/W1957563271","https://openalex.org/W1978498834","https://openalex.org/W1994949486","https://openalex.org/W2002404574","https://openalex.org/W2003026435","https://openalex.org/W2009656020","https://openalex.org/W2039715928","https://openalex.org/W2040196349","https://openalex.org/W2071454955","https://openalex.org/W2115955659","https://openalex.org/W2126219354","https://openalex.org/W2127447444","https://openalex.org/W2128347428","https://openalex.org/W2184270213","https://openalex.org/W2256481608","https://openalex.org/W2265102272","https://openalex.org/W2330644013","https://openalex.org/W2495500468","https://openalex.org/W2585701676","https://openalex.org/W2972541692","https://openalex.org/W2991196524","https://openalex.org/W3007163307","https://openalex.org/W3185759681","https://openalex.org/W3187378924","https://openalex.org/W4310845713","https://openalex.org/W6635423901"],"related_works":["https://openalex.org/W2126801981","https://openalex.org/W151920051","https://openalex.org/W2320474922","https://openalex.org/W1527034061","https://openalex.org/W2150956519","https://openalex.org/W2157146373","https://openalex.org/W2285293614","https://openalex.org/W2506085566","https://openalex.org/W4366308418","https://openalex.org/W2323313159"],"abstract_inverted_index":{"Accurate":[0],"pose":[1,74,94,213],"estimation":[2,75,95,214],"and":[3,76,92,113,153,169,198,205],"localization":[4,77],"technology":[5],"is":[6,163,181],"always":[7],"a":[8,85,93,101,122,160],"challenge":[9],"for":[10,71,186],"small":[11,79,123,188],"underwater":[12,16,80,111,124,189],"robots,":[13],"since":[14],"the":[15,21,26,30,43,89,110,129,133,151,156,167,175,179,187,193,199,203],"lighting":[17],"conditions":[18],"could":[19],"limit":[20],"use":[22,31],"of":[23,32,78,132,155,178,207],"cameras":[24],"while":[25,174],"cramped":[27],"environments":[28],"restrict":[29],"sonars.":[33],"In":[34],"nature,":[35],"some":[36],"fishes":[37],"perceive":[38],"other":[39],"creatures":[40],"by":[41,52,121,137],"sensing":[42],"weakly":[44],"changes":[45],"in":[46,58,109,217],"their":[47],"environmental":[48],"electric":[49,55,69,90,106,115,134,145,170,194,210],"field.":[50],"Inspired":[51],"such":[53],"passive":[54,68],"sense":[56,70,91,146,171,211],"behavior":[57],"fish,":[59],"this":[60],"letter":[61],"presents":[62],"an":[63,105,114,144],"electro-localization":[64],"scheme":[65,83],"based":[66,147,172,212],"on":[67],"short-distance":[72],"accurate":[73],"robots.":[81],"Our":[82],"includes":[84],"hardware":[86,102],"solution":[87,103],"to":[88,149,165],"method.":[96],"Specifically,":[97],"first,":[98],"we":[99,127,142],"design":[100],"including":[104],"emitter":[107],"placed":[108],"environment":[112],"receiver":[116,195],"that":[117],"can":[118],"be":[119],"carried":[120],"robot.":[125],"Then":[126],"construct":[128],"theoretical":[130],"model":[131,177],"field":[135],"generated":[136],"our":[138,208],"designed":[139],"hardware.":[140],"Finally,":[141],"propose":[143],"method":[148],"estimate":[150],"position":[152,218],"orientation":[154],"free-swimming":[157],"robot,":[158],"where":[159],"particle":[161],"filter":[162],"utilized":[164],"combine":[166],"odometer":[168],"measurements":[173],"dynamic":[176],"robot":[180,190],"also":[182],"included.":[183],"Localization":[184],"experiments":[185],"equipped":[191],"with":[192],"are":[196],"conducted,":[197],"experimental":[200],"results":[201],"demonstrate":[202],"robustness":[204],"effectiveness":[206],"proposed":[209],"approach,":[215],"especially":[216],"estimation.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
