{"id":"https://openalex.org/W7128499540","doi":"https://doi.org/10.1109/tase.2026.3663318","title":"Bio-Inspired Gait-Adaptive Mapping: Real-Time 3-D Scene Modeling Through Embodied Sensorimotor Coordination","display_name":"Bio-Inspired Gait-Adaptive Mapping: Real-Time 3-D Scene Modeling Through Embodied Sensorimotor Coordination","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7128499540","doi":"https://doi.org/10.1109/tase.2026.3663318"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3663318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3663318","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/A5125542442","display_name":"Shiyu Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyu Miao","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-3524-4557","affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125551814","display_name":"Jiajie Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajie Yu","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-3332-2304","affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125564661","display_name":"Jie Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Liu","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yao Wang","orcid":"https://orcid.org/0009-0008-4407-9159"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Wang","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0008-4407-9159","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100303049","display_name":"Chengfeng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengfeng Sun","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014759749","display_name":"Wenzheng Chi","orcid":"https://orcid.org/0000-0002-8121-2624"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzheng Chi","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8121-2624","affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125579134","display_name":"Lining Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lining Sun","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5557-3509","affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16292662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"5493","last_page":"5501"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8453999757766724,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.8453999757766724,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12740","display_name":"Gait Recognition and Analysis","score":0.04699999839067459,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.039000000804662704,"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/robustness","display_name":"Robustness (evolution)","score":0.7421000003814697},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.546999990940094},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5133000016212463},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42719998955726624},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.37940001487731934},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3700999915599823},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.35249999165534973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3393999934196472},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.32739999890327454}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7421000003814697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6869000196456909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6248999834060669},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5995000004768372},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.546999990940094},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5133000016212463},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42719998955726624},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.37940001487731934},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3700999915599823},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.35249999165534973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3255000114440918},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3188999891281128},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3154999911785126},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.28189998865127563},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2694999873638153},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26339998841285706},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2567000091075897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2547000050544739},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2535000145435333},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3663318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3663318","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/G81721062","display_name":null,"funder_award_id":"62273246","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2005099894","https://openalex.org/W2035957864","https://openalex.org/W2050431668","https://openalex.org/W2117228865","https://openalex.org/W2149538904","https://openalex.org/W2154355760","https://openalex.org/W2577008596","https://openalex.org/W2774394625","https://openalex.org/W2884876207","https://openalex.org/W2940914777","https://openalex.org/W2967541157","https://openalex.org/W2978755412","https://openalex.org/W3199417960","https://openalex.org/W4200555681","https://openalex.org/W4241459016","https://openalex.org/W4285102143","https://openalex.org/W4380606960","https://openalex.org/W4403022786","https://openalex.org/W4410737508"],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,26,32],"challenges":[3],"posed":[4],"by":[5],"periodic":[6],"gait-induced":[7],"disturbances":[8,156],"in":[9,96,170],"legged":[10],"robotic":[11],"systems,":[12],"we":[13],"propose":[14],"an":[15,60],"enhanced":[16,127],"visual":[17],"SLAM":[18,114,176],"framework":[19,106],"that":[20,47,65,102],"systematically":[21],"incorporates":[22],"gait-phase":[23,77],"awareness":[24],"into":[25],"mapping":[27,128,184],"optimization":[28,105],"process.":[29],"Building":[30],"upon":[31],"ORB-SLAM2":[33],"architecture,":[34],"our":[35,83],"methodology":[36],"introduces":[37],"two":[38],"principal":[39],"innovations:":[40],"1)":[41],"a":[42],"gait-synchronized":[43],"pose":[44],"prediction":[45],"model":[46],"dynamically":[48],"adjusts":[49],"motion":[50],"estimation":[51],"parameters":[52],"according":[53],"to":[54],"cyclic":[55],"locomotion":[56],"patterns":[57],"and":[58,92,126,133,183],"2)":[59],"adaptive":[61],"keyframe":[62],"selection":[63],"strategy":[64],"optimizes":[66],"temporal":[67],"sampling":[68],"based":[69],"on":[70],"phase-dependent":[71],"stability":[72],"characteristics.":[73],"By":[74],"integrating":[75],"real-time":[76],"detection":[78,124],"with":[79,112,116,130],"visual-inertial":[80],"data":[81],"fusion,":[82],"system":[84],"demonstrates":[85],"improved":[86],"robustness":[87],"against":[88],"transient":[89],"sensor":[90,141],"perturbations":[91],"high-frequency":[93],"vibrations":[94],"inherent":[95],"dynamic":[97],"locomotion.":[98],"Quantitative":[99],"evaluations":[100],"reveal":[101],"this":[103],"gait-adaptive":[104],"achieves":[107],"superior":[108],"tracking":[109,150],"performance":[110],"compared":[111],"conventional":[113],"implementations,":[115],"lower":[117],"absolute":[118],"trajectory":[119],"error,":[120],"higher":[121],"loop":[122],"closure":[123],"accuracy,":[125],"consistency":[129],"less":[131],"drift":[132],"overlap.":[134],"The":[135],"proposed":[136],"architecture":[137],"effectively":[138],"decouples":[139],"locomotion-induced":[140],"noise":[142],"from":[143,180],"true":[144],"environmental":[145],"observations,":[146],"maintaining":[147],"relatively":[148],"high":[149],"precision":[151],"even":[152],"under":[153],"severe":[154],"gait":[155],"(peak":[157],"acceleration":[158],">":[159],"13<italic":[160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">m/s<sup>2</sup></i>).":[162],"This":[163],"advancement":[164],"enables":[165],"reliable":[166],"long-term":[167],"autonomous":[168],"operation":[169],"unstructured":[171],"environments":[172],"where":[173],"traditional":[174],"vision-based":[175],"systems":[177],"typically":[178],"suffer":[179],"error":[181],"accumulation":[182],"degradation.":[185]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-11T00:00:00"}