{"id":"https://openalex.org/W4416707197","doi":"https://doi.org/10.1109/tsp.2025.3637317","title":"Robust Egoistic Rigid Body Localization","display_name":"Robust Egoistic Rigid Body Localization","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416707197","doi":"https://doi.org/10.1109/tsp.2025.3637317"},"language":null,"primary_location":{"id":"doi:10.1109/tsp.2025.3637317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsp.2025.3637317","pdf_url":null,"source":{"id":"https://openalex.org/S168680287","display_name":"IEEE Transactions on Signal Processing","issn_l":"1053-587X","issn":["1053-587X","1941-0476"],"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 Signal Processing","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/A5092581977","display_name":"Niclas F\u00fchrling","orcid":"https://orcid.org/0000-0003-1942-8691"},"institutions":[{"id":"https://openalex.org/I193619901","display_name":"Constructor University","ror":"https://ror.org/02yrs2n53","country_code":"DE","type":"education","lineage":["https://openalex.org/I193619901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niclas F\u00fchrling","raw_affiliation_strings":["School of Computer Science and Engineering, Constructor University, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1942-8691","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Constructor University, Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042210188","display_name":"Giuseppe Thadeu Freitas de Abreu","orcid":"https://orcid.org/0000-0002-5018-8174"},"institutions":[{"id":"https://openalex.org/I193619901","display_name":"Constructor University","ror":"https://ror.org/02yrs2n53","country_code":"DE","type":"education","lineage":["https://openalex.org/I193619901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Giuseppe Thadeu Freitas de Abreu","raw_affiliation_strings":["School of Computer Science and Engineering, Constructor University, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5018-8174","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Constructor University, Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632189","display_name":"David Gonz\u00e1lez G.","orcid":"https://orcid.org/0000-0003-2090-8481"},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Gonz\u00e1lez G.","raw_affiliation_strings":["Wireless Communications Technologies Group, Frankfurt am Main, Continental AG, Germany","Wireless Communications Technologies Group, Continental AG, Frankfurt am Main, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2090-8481","affiliations":[{"raw_affiliation_string":"Wireless Communications Technologies Group, Frankfurt am Main, Continental AG, Germany","institution_ids":["https://openalex.org/I147869694"]},{"raw_affiliation_string":"Wireless Communications Technologies Group, Continental AG, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001239356","display_name":"Osvaldo Gonsa","orcid":"https://orcid.org/0000-0001-5452-8159"},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Osvaldo Gonsa","raw_affiliation_strings":["Wireless Communications Technologies Group, Frankfurt am Main, Continental AG, Germany","Wireless Communications Technologies Group, Continental AG, Frankfurt am Main, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5452-8159","affiliations":[{"raw_affiliation_string":"Wireless Communications Technologies Group, Frankfurt am Main, Continental AG, Germany","institution_ids":["https://openalex.org/I147869694"]},{"raw_affiliation_string":"Wireless Communications Technologies Group, Continental AG, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.0877,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97717602,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"73","issue":null,"first_page":"5076","last_page":"5089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6410999894142151,"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":0.6410999894142151,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.10400000214576721,"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":0.05400000140070915,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.7281000018119812},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5436000227928162},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5156000256538391},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4975999891757965},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4562000036239624},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.454800009727478},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.4503999948501587}],"concepts":[{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.7281000018119812},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5436000227928162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.541100025177002},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5156000256538391},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4975999891757965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46239998936653137},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4562000036239624},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.454800009727478},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.375900000333786},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.37059998512268066},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.2784999907016754},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26649999618530273}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsp.2025.3637317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsp.2025.3637317","pdf_url":null,"source":{"id":"https://openalex.org/S168680287","display_name":"IEEE Transactions on Signal Processing","issn_l":"1053-587X","issn":["1053-587X","1941-0476"],"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 Signal Processing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1993436046","https://openalex.org/W1997917355","https://openalex.org/W2000389722","https://openalex.org/W2023059467","https://openalex.org/W2043101247","https://openalex.org/W2057069782","https://openalex.org/W2109932450","https://openalex.org/W2113642685","https://openalex.org/W2144730813","https://openalex.org/W2287252941","https://openalex.org/W2342818184","https://openalex.org/W2399806740","https://openalex.org/W2557998141","https://openalex.org/W2787894218","https://openalex.org/W2805478234","https://openalex.org/W2907512337","https://openalex.org/W2913685494","https://openalex.org/W2949544809","https://openalex.org/W2957946950","https://openalex.org/W2981856731","https://openalex.org/W3024597137","https://openalex.org/W3036513648","https://openalex.org/W3083139120","https://openalex.org/W3098590820","https://openalex.org/W3120688681","https://openalex.org/W3131461523","https://openalex.org/W3172441423","https://openalex.org/W3200820186","https://openalex.org/W3204394763","https://openalex.org/W3206790221","https://openalex.org/W4211154833","https://openalex.org/W4226127627","https://openalex.org/W4226201304","https://openalex.org/W4226239849","https://openalex.org/W4250589301","https://openalex.org/W4293775970","https://openalex.org/W4312899924","https://openalex.org/W4387010578","https://openalex.org/W4388579752","https://openalex.org/W4389164421","https://openalex.org/W4392120967","https://openalex.org/W4392515775","https://openalex.org/W4392904052","https://openalex.org/W4405269819","https://openalex.org/W4410227046","https://openalex.org/W4410227512","https://openalex.org/W4416707197"],"related_works":[],"abstract_inverted_index":{"We":[0],"consider":[1],"a":[2,18,78,83,162,172,184],"robust":[3,163],"and":[4,31,58,212,235],"self-reliant":[5],"(or":[6,37],"\u201cegoistic\u201d)":[7],"variation":[8],"of":[9,33,46,52,55,94,117,158,171,189,197,208,218,224],"the":[10,25,44,53,56,62,65,87,91,109,114,127,156,166,169,180,187,190,194,198,205,209,216,219],"rigid":[11,20,35,96,200],"body":[12,21,36,201],"localization":[13],"(RBL)":[14],"problem,":[15],"in":[16,155,222],"which":[17,98],"primary":[19],"seeks":[22],"to":[23,40,85,124,134,137,151,165,204],"estimate":[24,86],"pose":[26],"(<italic":[27],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[28],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">i.e</i>.,":[29],"location":[30],"orientation)":[32],"another":[34],"\u201ctarget\u201d),":[38],"relative":[39,174,195],"its":[41],"own,":[42],"without":[43,49],"assistance":[45],"external":[47],"infrastructure,":[48],"prior":[50],"knowledge":[51],"shape":[54,111],"target,":[57],"taking":[59],"into":[60],"account":[61],"possibility":[63],"that":[64,105],"available":[66],"observations":[67],"are":[68,73],"incomplete.":[69],"Three":[70],"complementary":[71],"contributions":[72],"then":[74],"offered":[75],"for":[76,186],"such":[77],"scenario.":[79],"The":[80,147],"first":[81],"is":[82,122,183],"method":[84],"translation":[88],"vector":[89],"between":[90],"center":[92],"points":[93],"both":[95,106],"bodies,":[97],"unlike":[99],"existing":[100],"techniques":[101,214],"does":[102],"not":[103],"require":[104],"objects":[107],"have":[108],"same":[110,115],"or":[112],"even":[113,140],"number":[116],"landmark":[118],"points.":[119],"This":[120],"technique":[121],"shown":[123],"significantly":[125],"outperform":[126],"state-of-the-art":[128],"(SotA)":[129],"under":[130,176,231],"complete":[131,177,233],"information,":[132,160],"but":[133],"be":[135],"sensitive":[136],"data":[138],"erasures,":[139],"when":[141],"enhanced":[142],"by":[143],"matrix":[144,192],"completion":[145],"methods.":[146],"second":[148],"contribution,":[149],"designed":[150],"offer":[152],"improved":[153],"performance":[154,230],"presence":[157],"incomplete":[159,236],"offers":[161],"alternative":[164],"latter,":[167],"at":[168],"expense":[170],"slight":[173],"loss":[175],"information.":[178],"Finally,":[179],"third":[181],"contribution":[182],"scheme":[185],"estimation":[188],"rotation":[191],"describing":[193],"orientation":[196],"target":[199],"with":[202],"respect":[203],"primary.":[206],"Comparisons":[207],"proposed":[210],"schemes":[211],"SotA":[213],"demonstrate":[215],"advantage":[217],"contributed":[220],"methods":[221],"terms":[223],"root":[225],"mean":[226],"square":[227],"error":[228],"(RMSE)":[229],"fully":[232],"information":[234],"conditions.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-02T23:11:23.791532","created_date":"2025-11-27T00:00:00"}