{"id":"https://openalex.org/W2973834056","doi":"https://doi.org/10.3390/s19184025","title":"An Extensible Positioning System for Locating Mobile Robots in Unfamiliar Environments","display_name":"An Extensible Positioning System for Locating Mobile Robots in Unfamiliar Environments","publication_year":2019,"publication_date":"2019-09-18","ids":{"openalex":"https://openalex.org/W2973834056","doi":"https://doi.org/10.3390/s19184025","mag":"2973834056","pmid":"https://pubmed.ncbi.nlm.nih.gov/31540461"},"language":"en","primary_location":{"id":"doi:10.3390/s19184025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19184025","pdf_url":"https://www.mdpi.com/1424-8220/19/18/4025/pdf?version=1568801914","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/18/4025/pdf?version=1568801914","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074042000","display_name":"Xiaosu Xu","orcid":"https://orcid.org/0000-0002-5165-0981"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaosu Xu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":"https://orcid.org/0000-0002-5165-0981","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042773120","display_name":"Xinghua Liu","orcid":"https://orcid.org/0000-0003-2801-0035"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghua Liu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":"https://orcid.org/0000-0003-2801-0035","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103024010","display_name":"Beichen Zhao","orcid":"https://orcid.org/0009-0005-5562-2047"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beichen Zhao","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040395839","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0001-8929-8365"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":"https://orcid.org/0000-0001-8929-8365","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074042000"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.4843,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.66109812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"19","issue":"18","first_page":"4025","last_page":"4025"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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":0.9998000264167786,"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":0.9983999729156494,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6490539312362671},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.6305776238441467},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6071999073028564},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5732907056808472},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.542450487613678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5264480710029602},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.510744571685791},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5077882409095764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4727039337158203},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4698841869831085},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46350282430648804},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45794883370399475},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4327288269996643},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.43096011877059937},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.42985236644744873},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3543850779533386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3092414438724518},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.12172937393188477}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6490539312362671},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.6305776238441467},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6071999073028564},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5732907056808472},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.542450487613678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5264480710029602},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.510744571685791},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5077882409095764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4727039337158203},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4698841869831085},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46350282430648804},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45794883370399475},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4327288269996643},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.43096011877059937},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.42985236644744873},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3543850779533386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3092414438724518},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.12172937393188477},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19184025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19184025","pdf_url":"https://www.mdpi.com/1424-8220/19/18/4025/pdf?version=1568801914","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31540461","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31540461","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:872d8b9887d44e349465f1491bb7c097","is_oa":true,"landing_page_url":"https://doaj.org/article/872d8b9887d44e349465f1491bb7c097","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 18, p 4025 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/18/4025/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19184025","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6766956","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6766956","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19184025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19184025","pdf_url":"https://www.mdpi.com/1424-8220/19/18/4025/pdf?version=1568801914","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G817174545","display_name":null,"funder_award_id":"51775110","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":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2973834056.pdf","grobid_xml":"https://content.openalex.org/works/W2973834056.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1531612717","https://openalex.org/W1701760339","https://openalex.org/W1976514655","https://openalex.org/W2019034316","https://openalex.org/W2028082528","https://openalex.org/W2041892022","https://openalex.org/W2054091988","https://openalex.org/W2056358962","https://openalex.org/W2085101420","https://openalex.org/W2089181681","https://openalex.org/W2105934661","https://openalex.org/W2121990344","https://openalex.org/W2128891880","https://openalex.org/W2144903371","https://openalex.org/W2148072293","https://openalex.org/W2160337655","https://openalex.org/W2213241233","https://openalex.org/W2343889204","https://openalex.org/W2411338219","https://openalex.org/W2535547924","https://openalex.org/W2557998141","https://openalex.org/W2604710118","https://openalex.org/W2605954379","https://openalex.org/W2682892716","https://openalex.org/W2719450792","https://openalex.org/W2744164485","https://openalex.org/W2744624966","https://openalex.org/W2745859992","https://openalex.org/W2751735948","https://openalex.org/W2761222387","https://openalex.org/W2765598926","https://openalex.org/W2766213449","https://openalex.org/W2790047175","https://openalex.org/W2802189056","https://openalex.org/W2808571300","https://openalex.org/W2883702102","https://openalex.org/W2887414249","https://openalex.org/W2894578575","https://openalex.org/W2897609011","https://openalex.org/W2910088833","https://openalex.org/W2917929657","https://openalex.org/W2926397355","https://openalex.org/W2940265767","https://openalex.org/W2944823738","https://openalex.org/W2946470728","https://openalex.org/W2963134661","https://openalex.org/W2964025948","https://openalex.org/W3102327032","https://openalex.org/W3105567679","https://openalex.org/W3106458387"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W1969901537","https://openalex.org/W2119768059"],"abstract_inverted_index":{"In":[0,106,240],"this":[1],"paper,":[2],"an":[3,24,107],"extensible":[4],"positioning":[5,44,135,226,232],"system":[6,13,45,93,206,210,233,261],"for":[7],"mobile":[8,66,86,123,184],"robots":[9],"is":[10,35,118,143,160,168,191,237,246,250,279],"proposed.":[11],"The":[12,40,179],"includes":[14,29],"a":[15,78,137,199,263],"stereo":[16],"camera":[17],"module,":[18],"inertial":[19],"measurement":[20],"unit":[21],"(IMU)":[22],"and":[23,54,72,88,113,177,203,207],"ultra-wideband":[25],"(UWB)":[26],"network":[27,176],"which":[28,34,159,249],"five":[30],"anchors,":[31],"one":[32],"of":[33,49,57,60,77,149,182,224,265,275],"with":[36,234,262],"the":[37,43,61,65,69,75,82,85,89,92,99,103,122,130,134,147,150,163,174,183,188,208,215,218,225,230,241,244,253,259,269,276],"unknown":[38],"position.":[39],"anchors":[41,53,236],"in":[42,214],"are":[46],"without":[47,55],"requirements":[48,56],"communication":[50],"between":[51,84],"UWB":[52,175,209],"clock":[58],"synchronization":[59],"anchors.":[62],"By":[63],"locating":[64],"robot":[67,87,124,185],"using":[68,81],"original":[70,104,260],"system,":[71,136],"then":[73],"estimating":[74],"position":[76,148,195],"new":[79,90,100,131,151,277],"anchor":[80,101,132,278],"ranging":[83],"anchor,":[91],"can":[94],"be":[95],"extended":[96],"after":[97,125],"adding":[98],"into":[102,133],"system.":[105],"unfamiliar":[108,242],"environment":[109],"(such":[110],"as":[111],"fire":[112],"other":[114],"rescue":[115],"sites),":[116],"it":[117],"able":[119],"to":[120,145,170,187,252],"locate":[121],"extending":[126],"itself.":[127],"To":[128],"add":[129],"recursive":[138],"least":[139],"squares":[140],"(RLS)":[141],"approach":[142],"used":[144,169],"estimate":[146],"anchor.":[152],"A":[153],"maximum":[154,164],"correntropy":[155,165],"Kalman":[156],"filter":[157],"(MCKF)":[158],"based":[161,271],"on":[162,272],"criterion":[166],"(MCC)":[167],"fuse":[171],"data":[172],"from":[173],"IMU.":[178],"initial":[180],"attitude":[181],"relative":[186],"navigation":[189],"frame":[190],"calculated":[192],"though":[193],"comparing":[194],"vectors":[196],"given":[197,228,257],"by":[198,229,258],"visual":[200],"simultaneous":[201],"localization":[202],"mapping":[204],"(SLAM)":[205],"respectively.":[211],"As":[212],"shown":[213],"experiment":[216],"section,":[217],"root":[219],"mean":[220],"square":[221],"error":[222],"(RMSE)":[223],"result":[227],"proposed":[231],"all":[235],"0.130":[238],"m.":[239,267,281],"environment,":[243],"RMSE":[245,254,270],"0.131":[247],"m":[248],"close":[251],"(0.137":[255],"m)":[256],"difference":[264],"0.006":[266],"Besides,":[268],"Euler":[273],"distance":[274],"0.061":[280]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}