{"id":"https://openalex.org/W3191003651","doi":"https://doi.org/10.1109/ur52253.2021.9494642","title":"Robust Sensor Fusion with Pairwise Dynamic Covariance Scaling for Localization in Urban Areas","display_name":"Robust Sensor Fusion with Pairwise Dynamic Covariance Scaling for Localization in Urban Areas","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3191003651","doi":"https://doi.org/10.1109/ur52253.2021.9494642","mag":"3191003651"},"language":"en","primary_location":{"id":"doi:10.1109/ur52253.2021.9494642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5101571418","display_name":"Youngji Kim","orcid":"https://orcid.org/0000-0003-0497-7401"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Youngji Kim","raw_affiliation_strings":["KAIST,Department of Civil and Environmental Engineering,Daejeon,S. Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Department of Civil and Environmental Engineering,Daejeon,S. Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100740100","display_name":"Ayoung Kim","orcid":"https://orcid.org/0000-0001-9829-2408"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ayoung Kim","raw_affiliation_strings":["KAIST,Department of Civil and Environmental Engineering,Daejeon,S. Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Department of Civil and Environmental Engineering,Daejeon,S. Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101571418"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08090698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"547","last_page":"552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/pairwise-comparison","display_name":"Pairwise comparison","score":0.7525048851966858},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6691247820854187},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6642094254493713},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.6091892719268799},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091511249542236},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.6009140014648438},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5903438329696655},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5707526206970215},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.543161928653717},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5383507013320923},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.44616642594337463},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44516581296920776},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4372546076774597},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4221433103084564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38670918345451355},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30541160702705383},{"id":"https://openalex.org/keywords/covariance-function","display_name":"Covariance function","score":0.24982544779777527},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1552189588546753}],"concepts":[{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.7525048851966858},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6691247820854187},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6642094254493713},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.6091892719268799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091511249542236},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.6009140014648438},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5903438329696655},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5707526206970215},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.543161928653717},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5383507013320923},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.44616642594337463},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44516581296920776},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4372546076774597},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4221433103084564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38670918345451355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30541160702705383},{"id":"https://openalex.org/C137250428","wikidata":"https://www.wikidata.org/wiki/Q5178897","display_name":"Covariance function","level":3,"score":0.24982544779777527},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1552189588546753},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur52253.2021.9494642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1498041548","https://openalex.org/W1990884907","https://openalex.org/W1999399477","https://openalex.org/W2080823437","https://openalex.org/W2109271936","https://openalex.org/W2112105154","https://openalex.org/W2115969888","https://openalex.org/W2118223742","https://openalex.org/W2137052305","https://openalex.org/W2182229738","https://openalex.org/W2561660711","https://openalex.org/W2771302179","https://openalex.org/W2891820683","https://openalex.org/W2909955272","https://openalex.org/W2938170127","https://openalex.org/W2968489055","https://openalex.org/W3034539604","https://openalex.org/W3045101785","https://openalex.org/W3091667825","https://openalex.org/W6676408443","https://openalex.org/W6685664056","https://openalex.org/W6784206762"],"related_works":["https://openalex.org/W2040968278","https://openalex.org/W2144859729","https://openalex.org/W2401337578","https://openalex.org/W3084622875","https://openalex.org/W2572601863","https://openalex.org/W2018001152","https://openalex.org/W2118568436","https://openalex.org/W4224918813","https://openalex.org/W1974588588","https://openalex.org/W1489099099"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,37,69],"robust":[3,38],"sensor":[4,66],"fusion":[5],"method":[6,104],"that":[7],"is":[8,18,47,54,57,105],"for":[9],"vehicle":[10],"localization":[11,28,116],"in":[12,97],"urban":[13,100],"areas.":[14],"Our":[15],"main":[16],"contribution":[17],"to":[19,80,108],"merge":[20],"the":[21,26,31,51,62,95,98,102,119],"absolute":[22,90],"position":[23],"measurements":[24,67,74,87],"from":[25,94],"vision-based":[27],"module":[29],"and":[30],"consumer":[32],"level":[33],"GPS":[34],"via":[35],"suggesting":[36],"back-end,":[39],"named":[40],"Pairwise":[41],"Dynamic":[42],"Covariance":[43],"Scaling":[44],"(PDCS).":[45],"PDCS":[46],"applicable":[48],"even":[49],"when":[50],"measurement":[52],"uncertainty":[53],"unknown,":[55],"which":[56],"possible":[58],"because":[59],"we":[60,72],"let":[61],"system":[63],"considers":[64],"different":[65],"as":[68,111],"pair.":[70],"Specifically,":[71],"penalize":[73],"with":[75,88],"large":[76,89],"relative":[77],"errors":[78],"compared":[79],"their":[81],"paired":[82],"counterparts,":[83],"instead":[84],"of":[85],"penalizing":[86],"errors.":[91],"As":[92],"seen":[93],"experiment":[96],"real":[99],"area,":[101],"proposed":[103],"less":[106],"sensitive":[107],"user":[109],"parameters":[110],"verified":[112],"by":[113],"its":[114],"steady":[115],"performance":[117],"over":[118],"varying":[120],"parameters.":[121]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
