{"id":"https://openalex.org/W4416476636","doi":"https://doi.org/10.1145/3680207.3723467","title":"RF-Based 3D SLAM Rivaling Vision Approaches","display_name":"RF-Based 3D SLAM Rivaling Vision Approaches","publication_year":2025,"publication_date":"2025-11-03","ids":{"openalex":"https://openalex.org/W4416476636","doi":"https://doi.org/10.1145/3680207.3723467"},"language":null,"primary_location":{"id":"doi:10.1145/3680207.3723467","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3680207.3723467","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3680207.3723467","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 31st Annual International Conference on Mobile Computing and Networking","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3680207.3723467","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054443823","display_name":"Haowen Lai","orcid":"https://orcid.org/0000-0001-8722-0820"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haowen Lai","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0001-8722-0820","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113751180","display_name":"Zhiwei Zheng","orcid":"https://orcid.org/0009-0009-9508-1803"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiwei Zheng","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0009-0009-9508-1803","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006376476","display_name":"M. Zhao","orcid":"https://orcid.org/0000-0001-5226-9085"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingmin Zhao","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0001-5226-9085","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054443823"],"corresponding_institution_ids":["https://openalex.org/I79576946","https://openalex.org/I922845939"],"apc_list":null,"apc_paid":null,"fwci":4.7878,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95816363,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"170","last_page":"185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8752999901771545,"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":0.8752999901771545,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.02319999970495701,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.011599999852478504,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5644999742507935},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5633000135421753},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.39590001106262207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3939000070095062},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39160001277923584},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.33059999346733093}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7067000269889832},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6459000110626221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6358000040054321},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5644999742507935},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5633000135421753},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3939000070095062},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39160001277923584},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3504999876022339},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.289900004863739},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.2838999927043915},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.27149999141693115}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3680207.3723467","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3680207.3723467","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3680207.3723467","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 31st Annual International Conference on Mobile Computing and Networking","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3680207.3723467","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3680207.3723467","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3680207.3723467","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 31st Annual International Conference on Mobile Computing and Networking","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416476636.pdf","grobid_xml":"https://content.openalex.org/works/W4416476636.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1560021816","https://openalex.org/W1989207420","https://openalex.org/W2065726711","https://openalex.org/W2088765131","https://openalex.org/W2101027309","https://openalex.org/W2141336889","https://openalex.org/W2148924905","https://openalex.org/W2799062425","https://openalex.org/W2827033964","https://openalex.org/W2858846863","https://openalex.org/W2898231767","https://openalex.org/W2906194850","https://openalex.org/W2909908358","https://openalex.org/W2963706662","https://openalex.org/W2964988056","https://openalex.org/W2990283237","https://openalex.org/W2992582397","https://openalex.org/W3018353706","https://openalex.org/W3034475171","https://openalex.org/W3035708560","https://openalex.org/W3112288498","https://openalex.org/W3116493117","https://openalex.org/W3129245057","https://openalex.org/W3177583232","https://openalex.org/W3202292180","https://openalex.org/W3206505934","https://openalex.org/W3214378007","https://openalex.org/W3216379004","https://openalex.org/W3217184254","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4312878643","https://openalex.org/W4313154783","https://openalex.org/W4313887267","https://openalex.org/W4315567653","https://openalex.org/W4319837251","https://openalex.org/W4383066578","https://openalex.org/W4385227136","https://openalex.org/W4385337618","https://openalex.org/W4385486101","https://openalex.org/W4386066457","https://openalex.org/W4387762676","https://openalex.org/W4399121675","https://openalex.org/W4399324163","https://openalex.org/W4402727329"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"CartoRadar,":[3],"a":[4,50,79,97,118],"novel":[5],"RF-based":[6],"SLAM":[7,65],"system":[8],"that":[9,67,94],"delivers":[10],"high-fidelity":[11],"3D":[12],"mapping":[13,73],"with":[14],"centimeter-level":[15],"accuracy.":[16],"CartoRadar":[17,48,61,77,95,110],"builds":[18],"on":[19,78,139],"top":[20],"of":[21,100,114,120],"the":[22,72],"advancements":[23],"in":[24,34,89],"learning-based":[25,29],"RF":[26,46,58],"imaging.":[27],"However,":[28],"systems":[30],"often":[31],"exhibit":[32],"variation":[33],"prediction":[35],"accuracy":[36,113],"during":[37],"inference.":[38],"To":[39],"address":[40],"this":[41,69],"challenge":[42],"and":[43,82,117,129,134],"enable":[44],"robust":[45],"sensing,":[47],"introduces":[49],"novel,":[51],"training-free":[52],"uncertainty":[53,70],"quantification":[54],"method":[55],"tailored":[56],"to":[57],"signals.":[59],"Additionally,":[60],"features":[62],"an":[63,112],"efficient":[64],"algorithm":[66],"incorporates":[68],"into":[71],"process.":[74],"We":[75],"deploy":[76],"mobile":[80],"robot":[81],"conduct":[83],"extensive":[84],"evaluations":[85],"across":[86],"14":[87],"floors":[88],"5":[90],"buildings.":[91],"Results":[92],"show":[93],"achieves":[96,111],"trajectory":[98],"error":[99],"14.1":[101],"cm,":[102,122],"outperforming":[103],"camera-based":[104],"baselines":[105],"by":[106,127],"72.1%.":[107],"For":[108],"mapping,":[109],"7.4":[115],"cm":[116],"completion":[119],"8.1":[121],"improving":[123],"over":[124],"vision":[125],"methods":[126],"46.2%":[128],"67.6%,":[130],"respectively.":[131],"Code,":[132],"datasets,":[133],"demo":[135],"videos":[136],"are":[137],"available":[138],"our":[140],"website.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-06T06:45:51.903784","created_date":"2025-11-23T00:00:00"}
