{"id":"https://openalex.org/W4400111977","doi":"https://doi.org/10.1109/tim.2024.3420371","title":"Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta","display_name":"Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400111977","doi":"https://doi.org/10.1109/tim.2024.3420371"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3420371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3420371","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/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":true,"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"],"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/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"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":"Jian Wang","raw_affiliation_strings":["Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"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/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":false,"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"],"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/A5102006569","display_name":"Yan Meng","orcid":"https://orcid.org/0000-0002-7030-5980"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Meng","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"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"],"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"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"],"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/A5102974143"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":2.3529,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87158952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9628999829292297,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9628999829292297,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9596999883651733,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6642494201660156},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.5273880958557129},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.49401766061782837},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.47914737462997437},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.44502145051956177},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.41825294494628906},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.41068172454833984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3577723801136017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3451453745365143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3414139449596405},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.33488380908966064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2534787654876709},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2500380277633667},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21025928854942322},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1958335041999817},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19283056259155273},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.11505177617073059},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08494696021080017}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6642494201660156},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.5273880958557129},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.49401766061782837},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.47914737462997437},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.44502145051956177},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.41825294494628906},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.41068172454833984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3577723801136017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3451453745365143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3414139449596405},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.33488380908966064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2534787654876709},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2500380277633667},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21025928854942322},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1958335041999817},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19283056259155273},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.11505177617073059},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08494696021080017},{"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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3420371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3420371","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5799999833106995}],"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/G3535061209","display_name":null,"funder_award_id":"62303020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5012687669","display_name":null,"funder_award_id":"62203436","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7053908939","display_name":null,"funder_award_id":"20230484457","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"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/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"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/W4312767556","https://openalex.org/W4312370102","https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471"],"abstract_inverted_index":{"This":[0,185],"article":[1],"proposes":[2],"a":[3,16,33,39,76,93,105,125,157],"novel":[4,40,126],"tightly":[5,95],"coupled":[6,96],"monocular-inertial-pressure":[7],"(IP)":[8],"sensor":[9,35],"fusion":[10],"method":[11,131,170],"for":[12,190],"underwater":[13,153,193],"localization":[14,137,194],"of":[15,68,121,167,180,196],"biomimetic":[17,158,182,197],"robotic":[18,159,183,198],"manta.":[19,160,184],"Based":[20],"on":[21,88,147],"the":[22,29,55,66,118,122,136,165,168,175,181,192],"ORB-SLAM3":[23],"monocular":[24,73,78,113,123],"visual-inertial":[25],"odometry":[26,74,115],"(VIO)":[27],"model,":[28],"depth":[30,57,99],"measurement":[31],"from":[32],"pressure":[34,47,98],"is":[36,42,81,132],"incorporated,":[37],"and":[38,92,138,151,177],"approach":[41],"provided":[43],"to":[44,111,134],"associate":[45],"low-frequency":[46],"measurements":[48,91],"with":[49],"high-frequency":[50],"frames":[51],"by":[52,156],"utilizing":[53],"only":[54],"relative":[56],"between":[58],"two":[59],"adjacent":[60],"keyframes":[61],"as":[62],"measurements.":[63],"To":[64],"address":[65],"challenge":[67],"scale":[69,108],"estimation":[70,140,179],"uncertainty":[71],"in":[72,104,171],"systems,":[75],"two-step":[77],"initialization":[79,120],"strategy":[80],"proposed,":[82],"involving":[83],"an":[84],"initial":[85],"estimate":[86,109],"based":[87],"visual-pressure":[89],"(VP)":[90],"subsequent":[94],"inertial":[97,114],"residual":[100],"construction,":[101],"which":[102],"results":[103,163],"significantly":[106,172],"improved":[107],"compared":[110],"conventional":[112],"systems.":[116,199],"After":[117],"successful":[119],"system,":[124],"visual-inertial-pressure":[127],"(VIP)":[128],"joint":[129],"optimization":[130],"proposed":[133,169],"enhance":[135],"attitude":[139,178],"accuracy.":[141],"Extensive":[142],"experiments":[143],"are":[144],"carried":[145],"out":[146],"both":[148,174],"open-source":[149],"datasets":[150,154],"real-world":[152],"collected":[155],"The":[161],"experimental":[162],"demonstrate":[164],"effectiveness":[166],"improving":[173],"position":[176],"research":[186],"provides":[187],"valuable":[188],"insights":[189],"enhancing":[191],"capability":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}