{"id":"https://openalex.org/W4404563503","doi":"https://doi.org/10.1109/tcyb.2024.3488077","title":"Visual-Inertial-Acoustic Sensor Fusion for Accurate Autonomous Localization of Underwater Vehicles","display_name":"Visual-Inertial-Acoustic Sensor Fusion for Accurate Autonomous Localization of Underwater Vehicles","publication_year":2024,"publication_date":"2024-11-20","ids":{"openalex":"https://openalex.org/W4404563503","doi":"https://doi.org/10.1109/tcyb.2024.3488077","pmid":"https://pubmed.ncbi.nlm.nih.gov/40030212"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2024.3488077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3488077","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5044143142","display_name":"Yupei Huang","orcid":"https://orcid.org/0000-0002-3173-3245"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yupei Huang","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3173-3245","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112298541","display_name":"Peng Li","orcid":"https://orcid.org/0000-0002-4992-1295"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Li","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4992-1295","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102974143","display_name":"Shaoxuan Ma","orcid":"https://orcid.org/0009-0001-8793-605X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoxuan Ma","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-8793-605X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031610779","display_name":"Shuaizheng Yan","orcid":"https://orcid.org/0000-0001-7955-429X"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaizheng Yan","raw_affiliation_strings":["Department of Mechanical Engineering, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7955-429X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1986-8438","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2338-5217","affiliations":[{"raw_affiliation_string":"Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5044143142"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":8.1966,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96904333,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"55","issue":"2","first_page":"880","last_page":"896"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6848087310791016},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5499581098556519},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5222674012184143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5204718112945557},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5095210671424866},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5041011571884155},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.48405593633651733},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.41237926483154297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40644940733909607},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2038276493549347},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1536807119846344}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6848087310791016},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5499581098556519},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5222674012184143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5204718112945557},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5095210671424866},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5041011571884155},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.48405593633651733},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.41237926483154297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40644940733909607},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2038276493549347},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1536807119846344},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.1109/tcyb.2024.3488077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3488077","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:40030212","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40030212","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G196074698","display_name":null,"funder_award_id":"JL23006","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"},{"id":"https://openalex.org/G7596075617","display_name":null,"funder_award_id":"62233001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7842586755","display_name":null,"funder_award_id":"2023039","funder_id":"https://openalex.org/F4320322847","funder_display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences"},{"id":"https://openalex.org/G8748815676","display_name":null,"funder_award_id":"62033013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8788910694","display_name":null,"funder_award_id":"62373353","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"},{"id":"https://openalex.org/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1981699551","https://openalex.org/W2020950478","https://openalex.org/W2146331571","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2482726005","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2909157769","https://openalex.org/W2964428359","https://openalex.org/W3003508462","https://openalex.org/W3025152627","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3097712187","https://openalex.org/W3125449081","https://openalex.org/W3159849251","https://openalex.org/W3198300447","https://openalex.org/W3205950324","https://openalex.org/W4200309261","https://openalex.org/W4220677303","https://openalex.org/W4220740033","https://openalex.org/W4224104535","https://openalex.org/W4230766380","https://openalex.org/W4285083380","https://openalex.org/W4285102565","https://openalex.org/W4285310298","https://openalex.org/W4289639903","https://openalex.org/W4312910124","https://openalex.org/W4319990602","https://openalex.org/W4321793256","https://openalex.org/W4362562908","https://openalex.org/W4380434613","https://openalex.org/W4382300288","https://openalex.org/W4388819991","https://openalex.org/W4389666567","https://openalex.org/W4394585921","https://openalex.org/W4400438878","https://openalex.org/W4400652831","https://openalex.org/W4402217114"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2785359964","https://openalex.org/W2382856674","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"In":[0,149],"this":[1],"article,":[2],"we":[3,42,70,89,154],"propose":[4],"a":[5,140],"tightly":[6],"coupled":[7],"visual-inertial-acoustic":[8],"sensor":[9],"fusion":[10,74,202],"method":[11,203,226],"to":[12,53,123,138,160,177,213],"improve":[13],"the":[14,23,44,61,85,92,96,101,108,114,146,150,180,183,186,200,205,214,221,224],"autonomous":[15],"localization":[16,33,206],"accuracy":[17,207],"of":[18,182,223],"underwater":[19,40,196,229],"vehicles.":[20],"To":[21,58],"address":[22],"performance":[24],"degradation":[25],"encountered":[26],"by":[27,113,208],"existing":[28],"visual":[29,125,173],"or":[30],"visual-inertial":[31],"simultaneous":[32],"and":[34,67,79,103,130,157,174,194],"mapping":[35,81,152],"systems":[36],"when":[37],"applied":[38],"in":[39,75,84,227],"environments,":[41],"integrate":[43],"Doppler":[45],"velocity":[46,51,98,105],"log":[47],"(DVL),":[48],"an":[49],"acoustic":[50,68],"sensor,":[52],"provide":[54],"additional":[55],"motion":[56],"information.":[57],"fully":[59],"leverage":[60],"complementary":[62],"characteristics":[63],"among":[64],"visual,":[65],"inertial,":[66],"sensors,":[69],"perform":[71],"multimodal":[72],"information":[73],"both":[76,192],"frontend":[77,86],"tracking":[78,87],"backend":[80,151],"processes.":[82],"Specifically,":[83],"process,":[88,153],"first":[90],"predict":[91],"vehicle's":[93],"pose":[94,143,163],"using":[95],"angular":[97],"measurements":[99,106,111,159],"from":[100,107],"gyroscope":[102,156],"linear":[104],"DVL.":[109],"Thereafter,":[110],"performed":[112],"three":[115],"sensors":[116],"between":[117,166],"adjacent":[118],"camera":[119],"frames":[120],"are":[121,135,169],"utilized":[122],"construct":[124,161],"reprojection":[126],"error,":[127,129,133],"inertial":[128,175],"DVL":[131,158],"displacement":[132],"which":[134,168],"jointly":[136],"minimized":[137,170],"obtain":[139],"more":[141,209],"accurate":[142],"estimation":[144],"at":[145],"current":[147,215],"frame.":[148],"utilize":[155],"relative":[162],"change":[164],"residuals":[165,176],"keyframes,":[167],"together":[171],"with":[172],"further":[178],"refine":[179],"poses":[181],"keyframes":[184],"within":[185],"local":[187],"map.":[188],"Experimental":[189],"results":[190],"on":[191],"simulated":[193],"real-world":[195],"datasets":[197],"demonstrate":[198],"that":[199],"proposed":[201,225],"improves":[204],"than":[210],"30%":[211],"compared":[212],"state-of-the-art":[216],"ORB-SLAM3":[217],"stereo-inertial":[218],"method,":[219],"validating":[220],"potential":[222],"practical":[228],"applications.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
