{"id":"https://openalex.org/W4411552735","doi":"https://doi.org/10.1109/saci66288.2025.11030185","title":"Evaluation of 2D Localization Performance in Wheeled Robots Based on the Fusion of Odometry and Absolute Positioning Systems","display_name":"Evaluation of 2D Localization Performance in Wheeled Robots Based on the Fusion of Odometry and Absolute Positioning Systems","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4411552735","doi":"https://doi.org/10.1109/saci66288.2025.11030185"},"language":"en","primary_location":{"id":"doi:10.1109/saci66288.2025.11030185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/saci66288.2025.11030185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 19th International Symposium on Applied Computational Intelligence and Informatics (SACI)","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/A5085166452","display_name":"Massimo Stefanoni","orcid":"https://orcid.org/0009-0009-2102-2755"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Massimo Stefanoni","raw_affiliation_strings":["Doctoral School of Applied Informatics and Applied Mathematics, Obuda University,Budapest,Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Doctoral School of Applied Informatics and Applied Mathematics, Obuda University,Budapest,Hungary","institution_ids":["https://openalex.org/I103356709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057735997","display_name":"Peter \u0160ar\u010devi\u0107","orcid":"https://orcid.org/0000-0003-4050-8231"},"institutions":[{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter Sarcevic","raw_affiliation_strings":["University of Szeged,Department of Mechatronics and Automation,Szeged,Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Szeged,Department of Mechatronics and Automation,Szeged,Hungary","institution_ids":["https://openalex.org/I227486990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102810173","display_name":"G\u00e1bor Fodor","orcid":"https://orcid.org/0000-0002-2934-5390"},"institutions":[{"id":"https://openalex.org/I4210119482","display_name":"Mali-Folkecenter","ror":"https://ror.org/02gp6p739","country_code":"ML","type":"other","lineage":["https://openalex.org/I4210119482"]}],"countries":["ML"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Fodor","raw_affiliation_strings":["Agrokons Doo,Mali Idos,Serbia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agrokons Doo,Mali Idos,Serbia","institution_ids":["https://openalex.org/I4210119482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016521764","display_name":"\u00c1kos Odry","orcid":"https://orcid.org/0000-0002-9554-9586"},"institutions":[{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"\u00c1kos Odry","raw_affiliation_strings":["University of Szeged,Department of Mechatronics and Automation,Szeged,Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Szeged,Department of Mechatronics and Automation,Szeged,Hungary","institution_ids":["https://openalex.org/I227486990"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85417736,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"519","last_page":"524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9818999767303467,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9797999858856201,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8682688474655151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7366483807563782},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6605939269065857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6378524303436279},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5876893997192383},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.560552179813385},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5310763716697693},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.49165016412734985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.410675972700119}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8682688474655151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7366483807563782},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6605939269065857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6378524303436279},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5876893997192383},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.560552179813385},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5310763716697693},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.49165016412734985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.410675972700119},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/saci66288.2025.11030185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/saci66288.2025.11030185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 19th International Symposium on Applied Computational Intelligence and Informatics (SACI)","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":30,"referenced_works":["https://openalex.org/W1557647061","https://openalex.org/W1638159426","https://openalex.org/W1861533369","https://openalex.org/W2012393511","https://openalex.org/W2025861244","https://openalex.org/W2040991264","https://openalex.org/W2102145772","https://openalex.org/W2122261647","https://openalex.org/W2130439726","https://openalex.org/W2330644013","https://openalex.org/W2891333021","https://openalex.org/W3005202825","https://openalex.org/W3030402745","https://openalex.org/W3110110644","https://openalex.org/W3116792877","https://openalex.org/W3154385213","https://openalex.org/W3183984127","https://openalex.org/W4281711821","https://openalex.org/W4283791395","https://openalex.org/W4302425036","https://openalex.org/W4321374479","https://openalex.org/W4321636979","https://openalex.org/W4382204355","https://openalex.org/W4384202727","https://openalex.org/W4392897039","https://openalex.org/W4392941414","https://openalex.org/W4393985386","https://openalex.org/W4394826806","https://openalex.org/W4399767794","https://openalex.org/W4405907598"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Accurate":[0],"localization":[1,39],"is":[2],"essential":[3],"for":[4,157,191,198],"wheeled":[5,45],"robots":[6],"in":[7],"structured":[8],"environments.":[9],"This":[10],"study":[11],"evaluates":[12],"the":[13,65,158,183],"performance":[14],"of":[15,58],"an":[16,25],"EKF-based":[17,145],"sensor":[18],"fusion":[19,146],"approach":[20],"that":[21,144],"combines":[22],"odometry":[23,50,74,161],"with":[24,84,96,152],"Absolute":[26,139],"Positioning":[27],"System":[28],"(APS)":[29],"under":[30],"different":[31,85],"configurations,":[32],"analyzing":[33],"how":[34],"APS":[35,76,104,166,194],"setup":[36],"variations":[37],"affect":[38],"accuracy.":[40],"A":[41],"line-following,":[42],"differentially":[43],"driven":[44],"robot":[46,66],"was":[47,67,105,128],"used,":[48],"providing":[49,81],"data.":[51],"The":[52,103],"Ground":[53],"Truth":[54],"(GT)":[55],"database":[56],"consists":[57],"predefined,":[59],"precisely":[60],"measured":[61],"trajectories":[62,72,89,151],"on":[63,70,149],"which":[64],"deployed.":[68],"Based":[69],"these":[71],"and":[73,99,113,116,121,137,195],"readings,":[75],"data":[77],"were":[78,90],"artificially":[79],"generated,":[80],"virtual":[82],"measurements":[83],"noise":[86,118,173,184],"levels.":[87],"Five":[88],"analyzed,":[91],"including":[92],"multiple":[93],"straight-line":[94],"segments":[95],"directional":[97],"changes":[98],"one":[100],"semi-circular":[101],"path.":[102],"tested":[106],"at":[107],"two":[108],"update":[109,167],"frequencies":[110,168],"(1":[111],"Hz":[112,193,200],"5":[114,199],"Hz)":[115],"five":[117],"levels":[119],"(20,40,60,80,":[120],"100":[122],"mm":[123,190,197],"standard":[124],"deviation":[125],"(STD)).":[126],"Performance":[127],"evaluated":[129],"using":[130],"Root":[131],"Mean":[132],"Square":[133],"Error":[134,140],"(RMSE),":[135],"STD,":[136],"Maximum":[138],"(MaxAE).":[141],"Results":[142],"show":[143],"improves":[147],"accuracy":[148],"straight":[150],"sudden":[153],"direction":[154],"changes,":[155],"while":[156,171],"semicircular":[159],"path,":[160],"alone":[162],"performs":[163],"comparably.":[164],"Higher":[165],"enhance":[169],"localization,":[170],"increased":[172],"degrades":[174],"it.":[175],"To":[176],"achieve":[177],"RMSE":[178],"lower":[179],"than":[180],"50":[181],"mm,":[182],"level":[185],"must":[186],"not":[187],"exceed":[188],"20":[189],"1":[192],"40":[196],"APS.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
