{"id":"https://openalex.org/W4398151390","doi":"https://doi.org/10.1109/tim.2024.3403196","title":"REFLoc: A Resilient Evolutionary Fusion Framework for Robust Indoor Localization","display_name":"REFLoc: A Resilient Evolutionary Fusion Framework for Robust Indoor Localization","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4398151390","doi":"https://doi.org/10.1109/tim.2024.3403196"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3403196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3403196","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/A5067214377","display_name":"Huilin Chen","orcid":"https://orcid.org/0000-0001-5850-0946"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilin Chen","raw_affiliation_strings":["School of Mathematics, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-5850-0946","affiliations":[{"raw_affiliation_string":"School of Mathematics, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100425666","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0002-9208-1949"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["School of Mathematics, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-9208-1949","affiliations":[{"raw_affiliation_string":"School of Mathematics, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453910","display_name":"Danyang Li","orcid":"https://orcid.org/0000-0002-7527-4669"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danyang Li","raw_affiliation_strings":["School of Software, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7527-4669","affiliations":[{"raw_affiliation_string":"School of Software, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014880925","display_name":"Jingao Xu","orcid":"https://orcid.org/0000-0002-8347-2657"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingao Xu","raw_affiliation_strings":["School of Software, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8347-2657","affiliations":[{"raw_affiliation_string":"School of Software, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054253574","display_name":"W. Yang","orcid":"https://orcid.org/0009-0004-5409-1638"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiqi Yang","raw_affiliation_strings":["School of Mathematics, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0004-5409-1638","affiliations":[{"raw_affiliation_string":"School of Mathematics, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061103594","display_name":"Zheng Yang","orcid":"https://orcid.org/0000-0003-4048-2684"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Yang","raw_affiliation_strings":["School of Software, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4048-2684","affiliations":[{"raw_affiliation_string":"School of Software, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":7.7961,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96304901,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9947999715805054,"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":0.716553807258606},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6989759206771851},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6475951671600342},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5745854377746582},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5237576961517334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5115374326705933},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48288702964782715},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4346632957458496},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4235062301158905},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40462368726730347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16390785574913025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14141759276390076}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716553807258606},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6989759206771851},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6475951671600342},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5745854377746582},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5237576961517334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5115374326705933},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48288702964782715},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4346632957458496},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4235062301158905},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40462368726730347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16390785574913025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14141759276390076},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3403196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3403196","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":[{"display_name":"Life below water","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G4590910629","display_name":null,"funder_award_id":"61972131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4967005443","display_name":null,"funder_award_id":"12001151","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":43,"referenced_works":["https://openalex.org/W1975740369","https://openalex.org/W2001966026","https://openalex.org/W2100989187","https://openalex.org/W2106199912","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2151103935","https://openalex.org/W2293554285","https://openalex.org/W2441306629","https://openalex.org/W2612506043","https://openalex.org/W2745859992","https://openalex.org/W2761222387","https://openalex.org/W2782715402","https://openalex.org/W2955544543","https://openalex.org/W2962799344","https://openalex.org/W3004122194","https://openalex.org/W3010003004","https://openalex.org/W3049564010","https://openalex.org/W3085759494","https://openalex.org/W3093177100","https://openalex.org/W3095414512","https://openalex.org/W3105567679","https://openalex.org/W3111891512","https://openalex.org/W3127901219","https://openalex.org/W3158380703","https://openalex.org/W3166285241","https://openalex.org/W3175237403","https://openalex.org/W3198130126","https://openalex.org/W3205022409","https://openalex.org/W3211520760","https://openalex.org/W4205815058","https://openalex.org/W4214707915","https://openalex.org/W4221149230","https://openalex.org/W4230766380","https://openalex.org/W4246614213","https://openalex.org/W4285285502","https://openalex.org/W4296558686","https://openalex.org/W4309287962","https://openalex.org/W4309324946","https://openalex.org/W4309341608","https://openalex.org/W4383899755","https://openalex.org/W4386249638","https://openalex.org/W6810174114"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3007931018","https://openalex.org/W4380763496","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2152464524"],"abstract_inverted_index":{"Location":[0],"awareness":[1],"is":[2],"becoming":[3],"increasingly":[4],"crucial":[5],"in":[6,12,21,171,194,198],"unmanned":[7],"aerial":[8],"vehicles":[9],"(UAVs).":[10],"However,":[11],"the":[13,61,66,84,89,130,145,154,164,172,178,181,190,202,207,213,218],"absence":[14],"of":[15,57,63,69,88,132,180,192,217],"global":[16,78,81,165],"positioning":[17,28,56],"system":[18,182],"(GPS)":[19],"signals":[20],"indoor":[22,55,71],"scenes,":[23],"how":[24],"to":[25,52,117,135,183],"obtain":[26],"accurate":[27,54],"results":[29,170,204],"has":[30,36],"become":[31],"a":[32,43,110],"frontier":[33],"issue":[34],"that":[35,206],"attracted":[37],"much":[38],"attention.":[39],"This":[40,176],"paper":[41],"proposes":[42],"resilient":[44,155],"evolutionary":[45,156],"multisensor":[46],"fusion":[47,157],"localization":[48,82,166],"framework":[49,209],"named":[50],"\u201cREFLoc\u201d":[51],"achieve":[53],"UAVs.":[58],"Motivated":[59],"by":[60,97,152],"ease":[62],"deployment":[64],"and":[65,138,148,167,186,197,201,215],"wide":[67],"feasibility":[68],"precise":[70],"localization,":[72],"we":[73,108,160],"introduce":[74,109],"ultra-wideband":[75],"(UWB)":[76],"as":[77,129],"localization.":[79,220],"The":[80],"provides":[83],"absolute":[85],"position":[86],"information":[87],"UAV":[90],"indoors,":[91],"but":[92],"it":[93],"may":[94],"be":[95],"affected":[96],"signal":[98],"blocking,":[99],"occlusion,":[100],"or":[101],"interference.":[102],"To":[103],"address":[104],"these":[105],"noise":[106,149],"effects,":[107],"hybrid":[111],"threshold":[112],"wavelet":[113],"denoising":[114],"(HTWD)":[115],"algorithm":[116],"effectively":[118,211],"preprocess":[119],"UWB":[120],"data.":[121],"We":[122,142,188],"also":[123],"integrate":[124,163],"visual":[125],"inertial":[126],"odometry":[127],"(VIO)":[128],"support":[131],"local":[133,168],"tracking":[134,169],"provide":[136],"continuous":[137],"high-frequency":[139],"motion":[140],"estimation.":[141],"dynamically":[143],"adjust":[144],"weight":[146],"parameters":[147],"covariance":[150],"matrices":[151],"using":[153],"method.":[158],"Then":[159],"further":[161],"seamlessly":[162],"optimized":[173],"EKF":[174],"framework.":[175],"improves":[177],"robustness":[179,214],"environmental":[184],"changes":[185],"outliers.":[187],"evaluate":[189],"performance":[191],"REFLoc":[193],"public":[195],"datasets":[196],"real":[199],"world,":[200],"experimental":[203],"show":[205],"proposed":[208],"can":[210],"improve":[212],"accuracy":[216],"UAVs\u2019":[219]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}