{"id":"https://openalex.org/W4312766002","doi":"https://doi.org/10.1109/tase.2022.3214984","title":"Visual-Based Kinematics and Pose Estimation for Skid-Steering Robots","display_name":"Visual-Based Kinematics and Pose Estimation for Skid-Steering Robots","publication_year":2022,"publication_date":"2022-11-03","ids":{"openalex":"https://openalex.org/W4312766002","doi":"https://doi.org/10.1109/tase.2022.3214984"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3214984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3214984","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5045415760","display_name":"Xingxing Zuo","orcid":"https://orcid.org/0000-0003-4158-3153"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xingxing Zuo","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4158-3153","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381697","display_name":"Mingming Zhang","orcid":"https://orcid.org/0000-0002-1202-2675"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingming Zhang","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429685","display_name":"Mengmeng Wang","orcid":"https://orcid.org/0000-0003-4035-0630"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengmeng Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4035-0630","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101694527","display_name":"Yiming Chen","orcid":"https://orcid.org/0000-0003-0508-1527"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Chen","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0001-9932-0685","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4822-8939","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100443411","display_name":"Mingyang Li","orcid":"https://orcid.org/0000-0002-1854-3076"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Li","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1854-3076","affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5045415760"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":5.727,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.95624059,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"21","issue":"1","first_page":"91","last_page":"105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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":0.9908000230789185,"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/skid","display_name":"Skid (aerodynamics)","score":0.8682847023010254},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7611449360847473},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6179141402244568},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5938652753829956},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5400098562240601},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4800718426704407},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4364534020423889},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4268985092639923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39601433277130127},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35827282071113586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34170907735824585}],"concepts":[{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.8682847023010254},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7611449360847473},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6179141402244568},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5938652753829956},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5400098562240601},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4800718426704407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4364534020423889},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4268985092639923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39601433277130127},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35827282071113586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34170907735824585},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3214984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3214984","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5729482921","display_name":null,"funder_award_id":"NSFC 61836015","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W116077224","https://openalex.org/W1532362218","https://openalex.org/W1990398405","https://openalex.org/W1995266040","https://openalex.org/W2018663214","https://openalex.org/W2026227513","https://openalex.org/W2027055074","https://openalex.org/W2027162577","https://openalex.org/W2033819227","https://openalex.org/W2048249748","https://openalex.org/W2056358962","https://openalex.org/W2077751272","https://openalex.org/W2087027772","https://openalex.org/W2105467265","https://openalex.org/W2115579991","https://openalex.org/W2118223742","https://openalex.org/W2134349615","https://openalex.org/W2142111022","https://openalex.org/W2146419316","https://openalex.org/W2147536420","https://openalex.org/W2157186802","https://openalex.org/W2167513452","https://openalex.org/W2168539766","https://openalex.org/W2335829695","https://openalex.org/W2558027072","https://openalex.org/W2571050459","https://openalex.org/W2736960679","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2765689048","https://openalex.org/W2797843868","https://openalex.org/W2885925038","https://openalex.org/W2887564721","https://openalex.org/W2898749826","https://openalex.org/W2909157769","https://openalex.org/W2910261328","https://openalex.org/W2931843659","https://openalex.org/W2938170127","https://openalex.org/W2968125992","https://openalex.org/W2983636741","https://openalex.org/W3003571623","https://openalex.org/W3003813985","https://openalex.org/W3104529569","https://openalex.org/W3122767460","https://openalex.org/W4230766380","https://openalex.org/W4285502049","https://openalex.org/W6637478477"],"related_works":["https://openalex.org/W833875619","https://openalex.org/W3185260728","https://openalex.org/W613759904","https://openalex.org/W4237861684","https://openalex.org/W2516263124","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913"],"abstract_inverted_index":{"To":[0,54,125],"build":[1],"commercial":[2,182],"robots,":[3,44,67],"skid-steering":[4,43,66,91,227],"mechanical":[5,118,279],"design":[6,163],"is":[7,286],"of":[8,42,90,98,107,112,117,219,223,269,278],"increased":[9],"popularity":[10],"due":[11,272],"to":[12,65,211,256,273,288,295],"its":[13],"manufacturing":[14],"simplicity":[15],"and":[16,27,40,77,101,122,135,162,196,283,292,318],"unique":[17],"mechanism.":[18],"However,":[19],"these":[20],"also":[21],"cause":[22],"significant":[23,244],"challenges":[24],"on":[25],"software":[26],"algorithm":[28],"design,":[29,119,280],"especially":[30],"for":[31,109,159,246,266],"the":[32,37,74,88,110,115,133,176,189,217,224,251,259,267,274,276,290,308,321,327],"pose":[33,145,221,247],"estimation":[34,146,222,248],"(i.e.,":[35],"determining":[36],"robot\u2019s":[38,260],"rotation":[39,99],"position)":[41],"since":[45],"they":[46],"change":[47,235],"their":[48,236],"orientation":[49,237],"with":[50,144,171,229,238],"an":[51,79],"inevitable":[52],"skid.":[53],"tackle":[55],"this":[56,166],"problem,":[57],"we":[58,85,154,187],"propose":[59,255],"a":[60,71,149,239,243],"probabilistic":[61],"sliding-window":[62],"estimator":[63],"dedicated":[64],"using":[68,250],"measurements":[69],"from":[70],"monocular":[72],"camera,":[73],"wheel":[75,252],"encoders,":[76],"optionally":[78],"inertial":[80],"measurement":[81],"unit":[82],"(IMU).":[83],"Specifically,":[84],"explicitly":[86],"model":[87],"kinematics":[89,291,309],"robots":[92,228,234],"by":[93,192,207,216],"both":[94,193],"track":[95],"instantaneous":[96],"centers":[97],"(ICRs)":[100],"correction":[102],"factors,":[103],"which":[104,168,199,241,262],"are":[105,140],"capable":[106],"compensating":[108,265],"complexity":[111,268],"track-to-terrain":[113,270],"interaction,":[114,271],"imperfectness":[116,277],"terrain":[120,281],"conditions":[121,282],"smoothness,":[123],"etc.":[124],"prevent":[126,296],"performance":[127,297],"reduction":[128,298],"in":[129,148,165,174,264,299],"robots\u2019":[130,300],"long-term":[131,220,301],"missions,":[132],"time-":[134],"location-":[136],"varying":[137],"kinematic":[138],"parameters":[139,310,328],"estimated":[141,313],"online":[142,257],"along":[143],"states":[147],"tightly-coupled":[150],"manner.":[151],"More":[152],"importantly,":[153],"conduct":[155],"in-depth":[156],"observability":[157],"analysis":[158],"different":[160,315],"sensors":[161],"configurations":[164],"paper,":[167],"provides":[169],"us":[170],"theoretical":[172],"tools":[173],"making":[175],"correct":[177],"choice":[178],"when":[179,249],"building":[180],"real":[181],"robots.":[183],"In":[184],"our":[185,202],"experiments,":[186,198],"validate":[188],"proposed":[190],"method":[191,203],"simulation":[194],"tests":[195],"real-world":[197],"demonstrate":[200],"that":[201,325],"outperforms":[204],"competing":[205],"methods":[206],"wide":[208],"margins.":[209],"Note":[210],"Practitioners\u2014This":[212],"paper":[213],"was":[214],"motivated":[215],"problem":[218],"commonly":[225],"commercial-used":[226],"only":[230],"low-cost":[231],"sensors.":[232],"Skid-steering":[233],"skid,":[240],"poses":[242,293],"challenge":[245],"encoders.":[253],"We":[254,303],"estimate":[258,289],"kinematics,":[261],"succeeds":[263],"slippage,":[275],"smoothness.":[284],"It":[285],"critical":[287],"jointly":[294],"missions.":[302],"further":[304],"theoretically":[305],"analyze":[306],"whether":[307],"can":[311],"be":[312],"under":[314],"sensor":[316],"configurations,":[317],"find":[319],"out":[320],"special":[322],"degrade":[323],"motions":[324],"make":[326],"unobservable.":[329]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}