{"id":"https://openalex.org/W1987758335","doi":"https://doi.org/10.1109/robio.2012.6491055","title":"A new algorithm for robot localization using monocular vision and inertia/odometry sensors","display_name":"A new algorithm for robot localization using monocular vision and inertia/odometry sensors","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1987758335","doi":"https://doi.org/10.1109/robio.2012.6491055","mag":"1987758335"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100436982","display_name":"Kai Wang","orcid":"https://orcid.org/0000-0002-1171-0281"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101630266","display_name":"Luyang Li","orcid":"https://orcid.org/0000-0002-0980-5046"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luyang Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Sha Tin, New Territories, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"[Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, NT, Hong Kong]","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100436982"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":14.937,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.98376306,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"735","last_page":"740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9011433720588684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7618283033370972},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7181106805801392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6733283996582031},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6509920358657837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6363665461540222},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5016498565673828},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.46741175651550293},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.46592968702316284},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4509267210960388},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.44193077087402344},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4288497567176819},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4264163076877594},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4163970649242401},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16094794869422913}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9011433720588684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7618283033370972},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7181106805801392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6733283996582031},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6509920358657837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6363665461540222},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5016498565673828},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.46741175651550293},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.46592968702316284},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4509267210960388},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.44193077087402344},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4288497567176819},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4264163076877594},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4163970649242401},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16094794869422913},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1487127700","https://openalex.org/W1655959979","https://openalex.org/W1677409904","https://openalex.org/W1991793962","https://openalex.org/W2031672365","https://openalex.org/W2055245908","https://openalex.org/W2104431395","https://openalex.org/W2111358452","https://openalex.org/W2113243634","https://openalex.org/W2113425768","https://openalex.org/W2119605622","https://openalex.org/W2124313187","https://openalex.org/W2128275197","https://openalex.org/W2139737736","https://openalex.org/W2143384455","https://openalex.org/W2148820580","https://openalex.org/W2149581763","https://openalex.org/W2160537734","https://openalex.org/W4285719527","https://openalex.org/W6629040409","https://openalex.org/W6680732975","https://openalex.org/W6686915372"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2981103992","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4386821976"],"abstract_inverted_index":{"Vision":[0],"and":[1,45,64,67,80,96],"inertia/odometry":[2,46],"sensors":[3,47],"fusion":[4],"strategy":[5],"is":[6,38,92,108],"popular":[7],"in":[8,20,62,110],"the":[9,13,33,42,50,54,57,68,83,103,106,125],"recent":[10],"years":[11],"for":[12,48,98],"robot":[14,51,58,127],"localization,":[15],"due":[16],"to":[17,40,76,82,94],"its":[18],"feasibility":[19],"GPS-denied":[21],"environments.":[22],"In":[23],"this":[24],"paper,":[25],"a":[26],"new":[27,55],"adaptive":[28,35],"estimation":[29],"algorithm,":[30,37],"inspired":[31],"by":[32],"Slotine-Li":[34],"control":[36,121],"designed":[39],"fuse":[41],"monocular":[43],"vision":[44],"estimating":[49],"position.":[52],"By":[53],"method,":[56],"can":[59,71,116],"be":[60,72,117],"localized":[61],"GPS-free":[63],"map-free":[65],"environments,":[66],"localization":[69,128],"results":[70],"theoretically":[73],"proved":[74],"convergent":[75],"their":[77],"real":[78],"values":[79],"robust":[81],"measurement":[84],"noises.":[85],"Comparing":[86],"with":[87],"other":[88],"methods,":[89],"our":[90],"algorithm":[91,107],"simple":[93],"implement":[95],"suitable":[97],"parallel":[99,111],"processing.":[100],"To":[101],"achieve":[102],"real-time":[104,126],"performance,":[105],"implemented":[109],"using":[112],"GPU,":[113],"therefore":[114],"it":[115],"easily":[118],"integrated":[119],"into":[120],"tasks":[122],"which":[123],"need":[124],"information.":[129]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}