{"id":"https://openalex.org/W4401750368","doi":"https://doi.org/10.1109/tie.2024.3440515","title":"Hybrid-VINS: Underwater Tightly Coupled Hybrid Visual Inertial Dense SLAM for AUV","display_name":"Hybrid-VINS: Underwater Tightly Coupled Hybrid Visual Inertial Dense SLAM for AUV","publication_year":2024,"publication_date":"2024-08-22","ids":{"openalex":"https://openalex.org/W4401750368","doi":"https://doi.org/10.1109/tie.2024.3440515"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3440515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3440515","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100362322","display_name":"Yaming Ou","orcid":"https://orcid.org/0000-0002-7294-7506"},"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":"Yaming Ou","raw_affiliation_strings":["Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7294-7506","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113563229","display_name":"Junfeng Fan","orcid":"https://orcid.org/0000-0003-4922-7946"},"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":"Junfeng Fan","raw_affiliation_strings":["Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4922-7946","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016421649","display_name":"Chao Zhou","orcid":"https://orcid.org/0000-0003-4461-8075"},"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":"Chao Zhou","raw_affiliation_strings":["Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4461-8075","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102904889","display_name":"Pengju Zhang","orcid":"https://orcid.org/0000-0001-8245-0205"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengju Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8245-0205","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109333020","display_name":"Zeng\u2010Guang Hou","orcid":"https://orcid.org/0000-0002-1534-5840"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng-Guang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1534-5840","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.6248,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97788471,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"72","issue":"3","first_page":"2821","last_page":"2831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9976999759674072,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9700999855995178,"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/computer-science","display_name":"Computer science","score":0.6017672419548035},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5470671057701111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5345911383628845},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5262593030929565},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5232093334197998},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5051823258399963},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.43121248483657837},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34263038635253906},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19695889949798584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1850740909576416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1594947874546051}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6017672419548035},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5470671057701111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5345911383628845},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5262593030929565},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5232093334197998},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5051823258399963},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.43121248483657837},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34263038635253906},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19695889949798584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1850740909576416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1594947874546051},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/tie.2024.3440515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3440515","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4065331958","display_name":null,"funder_award_id":"4232057","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"},{"id":"https://openalex.org/G7637393136","display_name":null,"funder_award_id":"62373354","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/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2047692640","https://openalex.org/W2482726005","https://openalex.org/W2745859992","https://openalex.org/W3043971245","https://openalex.org/W3104462882","https://openalex.org/W3152697629","https://openalex.org/W3205950324","https://openalex.org/W3206845495","https://openalex.org/W4200309261","https://openalex.org/W4285083380","https://openalex.org/W4285102565","https://openalex.org/W4285257830","https://openalex.org/W4292874183","https://openalex.org/W4312650218","https://openalex.org/W4313855833","https://openalex.org/W4317242593","https://openalex.org/W4360993800","https://openalex.org/W4366148204","https://openalex.org/W4383108486","https://openalex.org/W4388286321","https://openalex.org/W4388819991","https://openalex.org/W4389473954","https://openalex.org/W4389543677","https://openalex.org/W4389666234","https://openalex.org/W4389666567","https://openalex.org/W4390422265","https://openalex.org/W4391093175","https://openalex.org/W4391178488","https://openalex.org/W4392174005","https://openalex.org/W4392902510"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2290286193","https://openalex.org/W2921408402","https://openalex.org/W2982615283","https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Traditional":[0],"visual":[1,41,91],"simultaneous":[2],"localization":[3,23,59,175],"and":[4,24,53,60,90,132,146,176],"mapping":[5,62],"(SLAM)":[6],"methods":[7],"primarily":[8],"rely":[9],"on":[10],"passive":[11,54,129,166],"vision,":[12,55],"such":[13],"as":[14,100],"monocular":[15,96],"cameras,":[16],"which":[17,56],"often":[18],"exhibit":[19],"reduced":[20],"accuracy":[21],"in":[22,30,107,143],"struggle":[25],"to":[26,78,123,150],"create":[27],"dense":[28,61,108,177],"maps":[29],"low-light":[31],"underwater":[32,71,136,148,173],"conditions.":[33],"In":[34,110],"this":[35],"article,":[36],"a":[37,65,112],"tightly":[38],"coupled":[39],"hybrid":[40,115,138],"inertial":[42],"navigation":[43],"system":[44,140],"(VINS),":[45],"named":[46],"Hybrid-VINS,":[47],"is":[48,76,121,141],"proposed":[49,122],"by":[50],"fuzing":[51],"active":[52,67],"enables":[57],"robust":[58,114],"underwater.":[63],"Specifically,":[64],"self-designed":[66],"vision":[68,130,139],"device":[69],"called":[70],"binocular":[72],"structured":[73],"light":[74],"(UBSL)":[75],"integrated":[77],"provide":[79],"more":[80,113],"accurate":[81],"depth":[82],"estimation":[83],"of":[84,95,105,158],"the":[85,88,103,156],"scene,":[86],"enhancing":[87],"initialization":[89],"feature":[92],"tracking":[93],"process":[94],"VINS.":[97],"As":[98],"well":[99],"it":[101],"addresses":[102],"deficiency":[104],"VINS":[106],"mapping.":[109,178],"addition,":[111],"vision-aided":[116],"loop":[117],"closure":[118],"detection":[119],"algorithm":[120],"mitigate":[124],"issues":[125],"stemming":[126],"from":[127],"pure":[128],"misjudgments":[131],"mismatches.":[133],"Furthermore,":[134],"an":[135],"autonomous":[137],"developed":[142],"both":[144],"simulated":[145],"real-world":[147],"environments":[149],"collect":[151],"various":[152],"datasets":[153],"for":[154,172],"verifying":[155],"performance":[157],"Hybrid-VINS.":[159],"Experimental":[160],"results":[161],"demonstrate":[162],"that,":[163],"compared":[164],"with":[165],"VINS,":[167],"Hybrid-VINS":[168],"holds":[169],"greater":[170],"promise":[171],"high-precision":[174]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}