{"id":"https://openalex.org/W4402146846","doi":"https://doi.org/10.3390/rs16173245","title":"UVIO: Adaptive Kalman Filtering UWB-Aided Visual-Inertial SLAM System for Complex Indoor Environments","display_name":"UVIO: Adaptive Kalman Filtering UWB-Aided Visual-Inertial SLAM System for Complex Indoor Environments","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4402146846","doi":"https://doi.org/10.3390/rs16173245"},"language":"en","primary_location":{"id":"doi:10.3390/rs16173245","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16173245","pdf_url":"https://www.mdpi.com/2072-4292/16/17/3245/pdf?version=1725186375","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/16/17/3245/pdf?version=1725186375","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109774815","display_name":"Junxi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junxi Li","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101971524","display_name":"S. Wang","orcid":"https://orcid.org/0009-0006-9678-8104"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shouwen Wang","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067844468","display_name":"Jiahui Hao","orcid":"https://orcid.org/0009-0004-5413-4677"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiahui Hao","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063975315","display_name":"Biao Ma","orcid":"https://orcid.org/0000-0002-6273-3061"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Biao Ma","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058337483","display_name":"Henry K. Chu","orcid":"https://orcid.org/0000-0001-7225-6927"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Henry K. Chu","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058337483"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":6.6228,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96002143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"16","issue":"17","first_page":"3245","last_page":"3245"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5868271589279175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5655834674835205},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5409918427467346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4815436005592346},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4507454037666321},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4351348578929901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3591867685317993},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09030061960220337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08449387550354004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.058396339416503906}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5868271589279175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5655834674835205},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5409918427467346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4815436005592346},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4507454037666321},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4351348578929901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3591867685317993},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09030061960220337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08449387550354004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.058396339416503906},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs16173245","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16173245","pdf_url":"https://www.mdpi.com/2072-4292/16/17/3245/pdf?version=1725186375","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/112638","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/112638","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"Journal/Magazine Article"},{"id":"pmh:oai:doaj.org/article:68151971192d4cad91469c232368fad0","is_oa":true,"landing_page_url":"https://doaj.org/article/68151971192d4cad91469c232368fad0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 16, Iss 17, p 3245 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs16173245","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16173245","pdf_url":"https://www.mdpi.com/2072-4292/16/17/3245/pdf?version=1725186375","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324392","display_name":"Environment and Conservation Fund","ror":"https://ror.org/05tp8q545"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402146846.pdf","grobid_xml":"https://content.openalex.org/works/W4402146846.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1965879700","https://openalex.org/W1975389748","https://openalex.org/W1992063156","https://openalex.org/W1995125157","https://openalex.org/W2075744751","https://openalex.org/W2115969888","https://openalex.org/W2120350100","https://openalex.org/W2133353795","https://openalex.org/W2149631872","https://openalex.org/W2162718622","https://openalex.org/W2219134023","https://openalex.org/W2330256619","https://openalex.org/W2535547924","https://openalex.org/W2727639087","https://openalex.org/W2745859992","https://openalex.org/W2891224819","https://openalex.org/W2923085627","https://openalex.org/W2937198933","https://openalex.org/W2963200201","https://openalex.org/W2974002908","https://openalex.org/W2976431926","https://openalex.org/W2998077159","https://openalex.org/W3008124346","https://openalex.org/W3013127783","https://openalex.org/W3091486995","https://openalex.org/W3091667825","https://openalex.org/W3102327032","https://openalex.org/W3127901219","https://openalex.org/W3137066621","https://openalex.org/W3205648779","https://openalex.org/W3213539250","https://openalex.org/W4220838996","https://openalex.org/W4296915416","https://openalex.org/W4321064115"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2005337052","https://openalex.org/W2991246638","https://openalex.org/W2382856674"],"abstract_inverted_index":{"Precise":[0],"positioning":[1,21,29,204,214],"in":[2,63,96,101,213,216],"an":[3,132],"indoor":[4,28,51,104,219],"environment":[5],"is":[6,12,128,160,175],"a":[7,16,72,98,102,143,217],"challenging":[8],"task":[9],"because":[10,37],"it":[11],"difficult":[13],"to":[14,58,90,162,167,188],"receive":[15],"strong":[17],"and":[18,43,83,87,94,113,118,155,180],"reliable":[19],"global":[20],"system":[22],"(GPS)":[23],"signal.":[24],"For":[25],"existing":[26],"wireless":[27],"methods,":[30],"ultra-wideband":[31,77],"(UWB)":[32],"has":[33],"become":[34],"more":[35],"popular":[36],"of":[38,157],"its":[39],"low":[40],"energy":[41],"consumption":[42],"high":[44,92],"interference":[45],"immunity.":[46],"Nevertheless,":[47],"factors":[48],"such":[49],"as":[50],"non-line-of-sight":[52,119],"(NLOS)":[53,120],"obstructions":[54],"can":[55],"still":[56],"lead":[57],"large":[59],"errors":[60],"or":[61,202],"fluctuations":[62],"the":[64,111,149,164,171,191,206],"measurement":[65,80],"data.":[66],"In":[67],"this":[68],"paper,":[69],"we":[70,107],"propose":[71],"fusion":[73,208],"method":[74,209],"based":[75],"on":[76,110],"(UWB),":[78],"inertial":[79],"unit":[81],"(IMU),":[82],"visual":[84,181],"simultaneous":[85],"localization":[86],"mapping":[88],"(V-SLAM)":[89],"achieve":[91],"accuracy":[93,215],"robustness":[95],"tracking":[97],"mobile":[99],"robot":[100],"complex":[103,218],"environment.":[105,220],"Specifically,":[106],"first":[108,129],"focus":[109],"identification":[112],"correction":[114],"between":[115],"line-of-sight":[116],"(LOS)":[117],"UWB":[121,127,173],"signals.":[122],"The":[123,194],"distance":[124],"evaluated":[125],"from":[126],"processed":[130],"by":[131],"adaptive":[133],"Kalman":[134],"filter":[135],"with":[136,178,200],"IMU":[137,179],"signals":[138],"for":[139],"pose":[140,192],"estimation,":[141],"where":[142],"new":[144],"noise":[145],"covariance":[146],"matrix":[147],"using":[148],"received":[150],"signal":[151],"strength":[152],"indicator":[153],"(RSSI)":[154],"estimation":[156,174],"precision":[158],"(EOP)":[159],"proposed":[161,207],"reduce":[163],"effect":[165],"due":[166],"NLOS.":[168],"After":[169],"that,":[170,198],"corrected":[172],"tightly":[176],"integrated":[177],"SLAM":[182],"through":[183],"factor":[184],"graph":[185],"optimization":[186],"(FGO)":[187],"further":[189],"refine":[190],"estimation.":[193],"experimental":[195],"results":[196],"show":[197],"compared":[199],"single":[201],"dual":[203],"systems,":[205],"provides":[210],"significant":[211],"improvements":[212]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
