{"id":"https://openalex.org/W4409917190","doi":"https://doi.org/10.1109/tim.2025.3563029","title":"Graph-Optimized Encoder\u2013IMU Fusion for Robust Pipeline Robot Localization in Confined Spaces","display_name":"Graph-Optimized Encoder\u2013IMU Fusion for Robust Pipeline Robot Localization in Confined Spaces","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409917190","doi":"https://doi.org/10.1109/tim.2025.3563029"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3563029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3563029","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/A5048253689","display_name":"Jianliang Mao","orcid":"https://orcid.org/0000-0001-8979-2646"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianliang Mao","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8979-2646","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101144100","display_name":"Wenxin Song","orcid":null},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Song","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0007-2898-9956","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062217515","display_name":"Hongpeng Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongpeng Liang","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0009-4656-2838","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045590515","display_name":"Fei Xia","orcid":"https://orcid.org/0000-0003-0793-3113"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Xia","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0793-3113","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100674152","display_name":"Chuanlin Zhang","orcid":"https://orcid.org/0000-0001-6052-1682"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanlin Zhang","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6052-1682","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5545,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80407622,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13715","display_name":"Power Line Inspection Robots","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12222","display_name":"IoT-based Smart Home Systems","score":0.9751999974250793,"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/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/encoder","display_name":"Encoder","score":0.6493062973022461},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.609073281288147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.576677680015564},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5468581914901733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5449364185333252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5407358407974243},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5400505661964417},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.44607993960380554},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44054919481277466},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.42964762449264526},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1338185966014862}],"concepts":[{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6493062973022461},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.609073281288147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.576677680015564},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5468581914901733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5449364185333252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407358407974243},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5400505661964417},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.44607993960380554},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44054919481277466},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.42964762449264526},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1338185966014862},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3563029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3563029","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":[],"awards":[{"id":"https://openalex.org/G1271446606","display_name":null,"funder_award_id":"62203292","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G870221831","display_name":null,"funder_award_id":"202200890","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":29,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1612997784","https://openalex.org/W1994198993","https://openalex.org/W2064183516","https://openalex.org/W2230465269","https://openalex.org/W2482726005","https://openalex.org/W2551798249","https://openalex.org/W2901339604","https://openalex.org/W2968489055","https://openalex.org/W2995170636","https://openalex.org/W2996945478","https://openalex.org/W2999022742","https://openalex.org/W3011348788","https://openalex.org/W3043971245","https://openalex.org/W3088596192","https://openalex.org/W3091486995","https://openalex.org/W3104140491","https://openalex.org/W3110870077","https://openalex.org/W3153564771","https://openalex.org/W3199483764","https://openalex.org/W3206845495","https://openalex.org/W4226293698","https://openalex.org/W4254702725","https://openalex.org/W4285102484","https://openalex.org/W4312215421","https://openalex.org/W4321479449","https://openalex.org/W4378805803","https://openalex.org/W4386596892","https://openalex.org/W4392944223"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W3043079964","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2785359964","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Localization":[0],"in":[1,43,69],"confined":[2],"spaces":[3],"presents":[4],"significant":[5],"challenges,":[6],"as":[7],"conventional":[8],"vision-based":[9],"and":[10,90,103,116,124],"LiDAR-based":[11],"methods":[12],"often":[13],"exhibit":[14],"limited":[15],"performance":[16],"due":[17],"to":[18,59,92],"environmental":[19],"constraints.":[20],"These":[21],"limitations":[22],"underscore":[23],"the":[24,37,87,94,110,132,135],"urgent":[25],"need":[26],"for":[27,65],"enhanced":[28,51],"inertial":[29,45,125],"navigation":[30],"systems":[31],"with":[32],"improved":[33],"accuracy.":[34],"To":[35],"address":[36],"persistent":[38],"issue":[39],"of":[40,121,134],"noise":[41],"interference":[42],"traditional":[44],"localization,":[46],"this":[47],"study":[48],"introduces":[49],"an":[50,98],"encoder-inertial":[52],"measurement":[53],"unit":[54],"(IMU)":[55],"framework,":[56],"specifically":[57],"designed":[58],"provide":[60],"a":[61,76,80,105],"cost-effective":[62],"localization":[63],"solution":[64],"short-to-medium":[66],"range":[67],"tasks":[68],"enclosed":[70],"environments.":[71],"The":[72],"proposed":[73,136],"architecture":[74],"adopts":[75],"dual-component":[77],"design:":[78],"(1)":[79],"front-end":[81],"module":[82,107],"that":[83,108],"integrates":[84],"data":[85,112],"from":[86],"wheel":[88],"encoder":[89],"IMU":[91,111],"estimate":[93],"robot":[95],"pose,":[96],"leveraging":[97],"error-state":[99],"Kalman":[100],"filter":[101],"(ESKF);":[102],"(2)":[104],"back-end":[106],"initializes":[109],"through":[113],"graph":[114],"optimization":[115,120],"performs":[117],"large-scale":[118],"local":[119],"historical":[122],"poses":[123],"parameters.":[126],"Finally,":[127],"extensive":[128],"experimental":[129],"evaluations":[130],"demonstrate":[131],"effectiveness":[133],"method.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}