{"id":"https://openalex.org/W4408236130","doi":"https://doi.org/10.1109/robio64047.2024.10907588","title":"A Robust Multi-Sensor Fusion Localization for Small-Scale Biomimetic Robots","display_name":"A Robust Multi-Sensor Fusion Localization for Small-Scale Biomimetic Robots","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408236130","doi":"https://doi.org/10.1109/robio64047.2024.10907588"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5086172734","display_name":"Shengming Li","orcid":"https://orcid.org/0009-0009-6834-1083"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengming Li","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033668532","display_name":"Yulai Zhang","orcid":"https://orcid.org/0000-0002-6534-9698"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulai Zhang","raw_affiliation_strings":["School of Medical Technology, Beijing Institute of Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Medical Technology, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054307543","display_name":"Zuowei Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuowei Chen","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049739684","display_name":"Dixuan Jiang","orcid":"https://orcid.org/0009-0004-4317-5465"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dixuan Jiang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009132664","display_name":"Zhiqiang Yu","orcid":"https://orcid.org/0000-0002-8461-6309"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Yu","raw_affiliation_strings":["Yangtze Delta Region Academy of Beijing Institute of Technology,Zhejiang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yangtze Delta Region Academy of Beijing Institute of Technology,Zhejiang,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011265988","display_name":"Qing Shi","orcid":"https://orcid.org/0000-0002-9914-7314"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Shi","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"434","last_page":"439"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.935699999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.935699999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.6552597284317017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5909472703933716},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5648557543754578},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5309994220733643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46753618121147156},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4579320251941681},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4300980269908905},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35008561611175537},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07988870143890381}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6552597284317017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5909472703933716},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5648557543754578},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5309994220733643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46753618121147156},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4579320251941681},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4300980269908905},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35008561611175537},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07988870143890381},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1978102433","https://openalex.org/W2012875423","https://openalex.org/W2118223742","https://openalex.org/W2474281075","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2911596153","https://openalex.org/W2968297929","https://openalex.org/W3008195728","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3089503906","https://openalex.org/W3109424835","https://openalex.org/W3139856562","https://openalex.org/W4226395753","https://openalex.org/W4250058668","https://openalex.org/W4392619926","https://openalex.org/W6770485707","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2099421762","https://openalex.org/W2530546662","https://openalex.org/W3171631314","https://openalex.org/W2122871747","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3114279067","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Robust":[0],"localization":[1,39,109],"is":[2],"an":[3,53],"important":[4],"foundation":[5],"for":[6,41,146],"quadruped":[7,140],"robots":[8,149],"to":[9],"achieve":[10],"motion":[11],"performance":[12,132],"and":[13,44,81,88,114,127,137],"application":[14],"potential":[15],"in":[16,27,150],"real-world":[17,151],"scenarios.":[18,152],"Vision-based":[19],"methods":[20],"commonly":[21],"suffer":[22],"from":[23],"undesired":[24],"performance,":[25],"especially":[26],"low-lighting":[28],"conditions.":[29,48],"To":[30],"solve":[31],"this":[32],"problem,":[33],"we":[34,78],"present":[35],"a":[36,92,138],"multi-sensor":[37],"fusion":[38,100],"approach":[40,51,97],"slippery":[42],"surfaces":[43],"poor":[45],"visual":[46],"quality":[47],"The":[49,96,119],"proposed":[50],"creates":[52],"adaptive":[54],"feature":[55,75],"extraction":[56],"framework":[57],"that":[58],"only":[59],"extracts":[60],"effective":[61],"local":[62],"features":[63],"rather":[64],"than":[65],"global":[66],"ones,":[67],"improving":[68],"data":[69],"processing":[70,115],"speed":[71],"while":[72],"ensuring":[73],"sufficient":[74],"extraction.":[76],"Besides,":[77],"implement":[79],"leg":[80],"inertial":[82],"odometry":[83],"based":[84],"on":[85,91,133],"motor":[86],"encoders":[87],"IMU":[89],"mounted":[90],"small-scale":[93,147],"robotic":[94],"rat.":[95],"with":[98,104],"information":[99],"has":[101,124],"been":[102,125],"proved":[103],"high":[105,144],"robustness":[106],"by":[107,111,117],"reducing":[108],"error":[110],"over":[112],"20%":[113],"time":[116],"15.8%.":[118],"evaluation":[120],"across":[121],"multiple":[122],"stages":[123],"done":[126],"the":[128],"results":[129],"demonstrate":[130],"competitive":[131],"both":[134],"public":[135],"benchmarks":[136],"miniature":[139],"robot,":[141],"which":[142],"shows":[143],"versatility":[145],"biomimetic":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}