{"id":"https://openalex.org/W3185622011","doi":"https://doi.org/10.1109/tim.2021.3098780","title":"Infrastructure-Free Hierarchical Mobile Robot Global Localization in Repetitive Environments","display_name":"Infrastructure-Free Hierarchical Mobile Robot Global Localization in Repetitive Environments","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3185622011","doi":"https://doi.org/10.1109/tim.2021.3098780","mag":"3185622011"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3098780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3098780","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100773430","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-9094-4982"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9094-4982","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6628-7946","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059520724","display_name":"Mingxing Wen","orcid":"https://orcid.org/0000-0002-9751-2648"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mingxing Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9751-2648","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754322","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-7406-5243"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-7406-5243","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086030465","display_name":"Jianjun Yi","orcid":"https://orcid.org/0000-0003-0899-177X"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yi","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3400-0079","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.4975,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98841737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.759194016456604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7153034210205078},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6979831457138062},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6764544248580933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6672086715698242},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.6164008378982544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6161392331123352},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5898298621177673},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5684286952018738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5126551985740662},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.47549259662628174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46639367938041687},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.45526719093322754},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4531280994415283},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1693509817123413},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09531033039093018}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.759194016456604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7153034210205078},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6979831457138062},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6764544248580933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6672086715698242},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.6164008378982544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6161392331123352},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5898298621177673},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5684286952018738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5126551985740662},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.47549259662628174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46639367938041687},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.45526719093322754},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4531280994415283},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1693509817123413},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09531033039093018},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/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/tim.2021.3098780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3098780","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1675551633","https://openalex.org/W1746819321","https://openalex.org/W1947853012","https://openalex.org/W1967740178","https://openalex.org/W1971591628","https://openalex.org/W1973876344","https://openalex.org/W1988605247","https://openalex.org/W2041179621","https://openalex.org/W2077552673","https://openalex.org/W2085261163","https://openalex.org/W2086243321","https://openalex.org/W2094998617","https://openalex.org/W2102822237","https://openalex.org/W2117892041","https://openalex.org/W2122305929","https://openalex.org/W2127387610","https://openalex.org/W2140881794","https://openalex.org/W2160584648","https://openalex.org/W2163282858","https://openalex.org/W2191462733","https://openalex.org/W2202924443","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W2541515903","https://openalex.org/W2560705922","https://openalex.org/W2764048921","https://openalex.org/W2769626688","https://openalex.org/W2784384163","https://openalex.org/W2895290907","https://openalex.org/W2907325719","https://openalex.org/W2913588635","https://openalex.org/W2964103707","https://openalex.org/W2992379457","https://openalex.org/W3000075736","https://openalex.org/W3022553863","https://openalex.org/W3026067116","https://openalex.org/W3028580964","https://openalex.org/W3048163579","https://openalex.org/W3089387037","https://openalex.org/W3097751338","https://openalex.org/W3099185318","https://openalex.org/W3130887622","https://openalex.org/W3133343964","https://openalex.org/W3206622090","https://openalex.org/W3217560493","https://openalex.org/W4211049957","https://openalex.org/W6637065716","https://openalex.org/W6683997296","https://openalex.org/W6747726430","https://openalex.org/W6791047872","https://openalex.org/W6799718793"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2410890952","https://openalex.org/W2133062384","https://openalex.org/W2047714300","https://openalex.org/W2418454769","https://openalex.org/W2083376357","https://openalex.org/W2386569788","https://openalex.org/W2732221248","https://openalex.org/W3167340752"],"abstract_inverted_index":{"Repetitive":[0],"or":[1,31,45,67,158],"ambiguous":[2],"environment,":[3],"where":[4],"structures":[5],"are":[6,13,40,63],"highly":[7],"similar":[8],"and":[9,21,34,65,116,119,135,193,233],"distinct":[10],"geometric":[11],"features":[12],"not":[14,79,156],"sufficient,":[15],"is":[16,78,154],"one":[17],"of":[18,98],"the":[19,96,111,150,167,181,201,208,224,243],"critical":[20],"challenging":[22],"scenarios":[23],"for":[24,149],"mobile":[25,100,244],"robots":[26,39],"to":[27,42,47,82,241],"perform":[28],"global":[29,72,102],"localization":[30,33,73,103,134,140,230],"simultaneous":[32],"mapping":[35],"(SLAM)":[36],"tasks.":[37],"The":[38,53,123,142],"easy":[41],"get":[43],"lost":[44],"mismatched":[46],"wrong":[48],"places":[49],"in":[50,104,161],"such":[51],"environments.":[52,164],"existing":[54],"solutions":[55],"either":[56],"rely":[57,68],"heavily":[58],"on":[59,69,166],"pre-installed":[60],"infrastructures":[61],"which":[62,153,187],"inflexible":[64],"expensive":[66],"single":[70],"sensor-based":[71],"methods":[74],"whose":[75],"initialization":[76],"module":[77],"capable":[80],"enough":[81],"provide":[83],"distinctive":[84],"information.":[85,122],"Thus,":[86],"this":[87],"article":[88],"proposes":[89],"a":[90,147],"hierarchical":[91,125],"probabilistic":[92],"framework":[93],"that":[94,223],"addresses":[95],"problem":[97],"infrastructure-free":[99],"robot":[101,174,209],"GPS-challenged":[105],"repetitive":[106],"environments":[107],"by":[108,180,215],"leveraging":[109],"both":[110],"measured":[112],"magnetic":[113],"field":[114],"(MF)":[115],"Light":[117],"Detection":[118],"Ranging":[120],"(LiDAR)":[121],"proposed":[124,182,225],"system":[126,226],"mainly":[127],"consists":[128],"of:":[129],"1)":[130],"coarse":[131,172],"localization:":[132,138],"MF-based":[133],"2)":[136],"fine":[137,217],"LiDAR-based":[139,216],"(LBL).":[141],"ambient":[143],"MF":[144,169],"functions":[145],"as":[146,206],"substitute":[148],"GPS":[151],"signal,":[152],"considered":[155],"available":[157],"severely":[159],"challenged":[160],"indoor/semi-indoor":[162],"local":[163],"Based":[165],"pre-built":[168],"database,":[170],"multiple":[171,203],"candidate":[173,204],"poses":[175,205],"can":[176,210],"first":[177],"be":[178,211],"determined":[179],"initial":[183],"pose":[184],"estimation":[185],"algorithm,":[186],"incorporates":[188],"multivariate":[189],"Gaussian":[190],"observation":[191],"model":[192],"random":[194],"sample":[195],"consensus":[196],"(RANSAC)":[197],"algorithm.":[198],"Then,":[199],"using":[200],"obtained":[202],"initialization,":[207],"localized":[212],"more":[213],"accurately":[214],"localization.":[218],"Extensive":[219],"real-world":[220],"experiments":[221],"demonstrate":[222],"achieves":[227],"over":[228],"95%":[229],"success":[231],"rate":[232],"takes":[234],"less":[235],"than":[236],"2.0-m":[237],"average":[238],"traveling":[239],"distance":[240],"localize":[242],"robot.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}