{"id":"https://openalex.org/W2984483623","doi":"https://doi.org/10.3390/s19224946","title":"A Robust Localization System for Inspection Robots in Sewer Networks","display_name":"A Robust Localization System for Inspection Robots in Sewer Networks","publication_year":2019,"publication_date":"2019-11-13","ids":{"openalex":"https://openalex.org/W2984483623","doi":"https://doi.org/10.3390/s19224946","mag":"2984483623","pmid":"https://pubmed.ncbi.nlm.nih.gov/31766253"},"language":"en","primary_location":{"id":"doi:10.3390/s19224946","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224946","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4946/pdf?version=1573647157","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/1424-8220/19/22/4946/pdf?version=1573647157","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046167840","display_name":"David Alejo","orcid":"https://orcid.org/0000-0001-6664-6216"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Alejo","raw_affiliation_strings":["School of Engineering, Universidad Pablo de Olavide, 41012 Sevilla, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6664-6216","affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Pablo de Olavide, 41012 Sevilla, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040477311","display_name":"Fernando Caballero","orcid":"https://orcid.org/0000-0001-8869-2846"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Caballero","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad de Sevilla, 41009 Sevilla, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8869-2846","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad de Sevilla, 41009 Sevilla, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Luis Merino","raw_affiliation_strings":["School of Engineering, Universidad Pablo de Olavide, 41012 Sevilla, Spain"],"raw_orcid":"https://orcid.org/0000-0003-4927-8647","affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Pablo de Olavide, 41012 Sevilla, Spain","institution_ids":["https://openalex.org/I95013407"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042031541"],"corresponding_institution_ids":["https://openalex.org/I95013407"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":27.5715,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99146769,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"19","issue":"22","first_page":"4946","last_page":"4946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9980999827384949,"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":0.9941999912261963,"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/sanitary-sewer","display_name":"Sanitary sewer","score":0.8833972215652466},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7126438617706299},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5218366980552673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5211182236671448},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5017540454864502},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.499373197555542},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.47459858655929565},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4664342701435089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44037196040153503},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4276586174964905},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4170600175857544},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3704807162284851},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3502464294433594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.323359876871109},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32286012172698975},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1592746078968048},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14950785040855408},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08797511458396912}],"concepts":[{"id":"https://openalex.org/C190714865","wikidata":"https://www.wikidata.org/wiki/Q1805497","display_name":"Sanitary sewer","level":2,"score":0.8833972215652466},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7126438617706299},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5218366980552673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5211182236671448},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5017540454864502},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.499373197555542},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.47459858655929565},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4664342701435089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44037196040153503},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4276586174964905},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4170600175857544},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3704807162284851},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3502464294433594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.323359876871109},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32286012172698975},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1592746078968048},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14950785040855408},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08797511458396912},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19224946","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224946","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4946/pdf?version=1573647157","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:31766253","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31766253","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:idus.us.es:11441/93224","is_oa":false,"landing_page_url":"https://idus.us.es/handle//11441/93224","pdf_url":null,"source":{"id":"https://openalex.org/S4306400333","display_name":"idUS (Universidad de Sevilla)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79238269","host_organization_name":"Universidad de Sevilla","host_organization_lineage":["https://openalex.org/I79238269"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:europepmc.org:5870621","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6891562","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/22/4946/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19224946","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"}],"best_oa_location":{"id":"doi:10.3390/s19224946","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224946","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4946/pdf?version=1573647157","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":[{"display_name":"Industry, innovation and infrastructure","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G7462363763","display_name":null,"funder_award_id":"FJCI-2015-25700","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2984483623.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1536150371","https://openalex.org/W1966694617","https://openalex.org/W1978096560","https://openalex.org/W1984475609","https://openalex.org/W1990129745","https://openalex.org/W1991544872","https://openalex.org/W1995562189","https://openalex.org/W2036332677","https://openalex.org/W2054957336","https://openalex.org/W2066327668","https://openalex.org/W2093653159","https://openalex.org/W2095498779","https://openalex.org/W2095705004","https://openalex.org/W2130422193","https://openalex.org/W2131157226","https://openalex.org/W2132512702","https://openalex.org/W2145428340","https://openalex.org/W2155541015","https://openalex.org/W2159796823","https://openalex.org/W2160584648","https://openalex.org/W2163605009","https://openalex.org/W2171363519","https://openalex.org/W2194187530","https://openalex.org/W2469530993","https://openalex.org/W2529355652","https://openalex.org/W2535547924","https://openalex.org/W2592563856","https://openalex.org/W2619105228","https://openalex.org/W2773777859","https://openalex.org/W2801721891","https://openalex.org/W2890488422","https://openalex.org/W2898231767","https://openalex.org/W2901004818","https://openalex.org/W2906636743","https://openalex.org/W2911107863","https://openalex.org/W2963767133","https://openalex.org/W2968585849","https://openalex.org/W2973985748","https://openalex.org/W3041692467","https://openalex.org/W3102327032","https://openalex.org/W4237605278","https://openalex.org/W4246614213","https://openalex.org/W6631190155","https://openalex.org/W6631707545","https://openalex.org/W6674330103"],"related_works":["https://openalex.org/W2765521311","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W4200210047","https://openalex.org/W1577509784","https://openalex.org/W1969991288","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W287737911","https://openalex.org/W1511332864"],"abstract_inverted_index":{"Sewers":[0],"represent":[1],"a":[2,31,93,135,182],"very":[3],"important":[4],"infrastructure":[5,19],"of":[6,17,44,106,109,124,195,207,220,235,259],"cities":[7],"whose":[8],"state":[9],"should":[10,74],"be":[11,75,203],"monitored":[12],"periodically.":[13],"However,":[14],"the":[15,38,52,60,67,80,83,110,116,122,147,156,165,186,192,196,199,208,218,233,242,257,260],"length":[16],"such":[18,54,127],"prevents":[20],"sensor":[21],"networks":[22],"from":[23,217],"being":[24],"applicable.":[25],"In":[26],"this":[27,88,90,176],"paper,":[28],"we":[29],"present":[30],"mobile":[32],"platform":[33],"(SIAR)":[34],"designed":[35],"to":[36,78,227],"inspect":[37],"sewer":[39,111,157,187,200],"network.":[40],"It":[41,103],"is":[42,69,132,167,189,225],"capable":[43],"sensing":[45],"gas":[46],"concentrations":[47],"and":[48,57,62,121,143,251],"detecting":[49],"failures":[50],"in":[51,59,175,185,232,238],"network":[53,158,188],"as":[55,128],"cracks":[56],"holes":[58],"floor":[61],"walls":[63],"or":[64,191],"zones":[65],"were":[66],"water":[68],"not":[70],"flowing.":[71],"These":[72],"alarms":[73],"precisely":[76],"geo-localized":[77],"allow":[79],"operators":[81],"performing":[82],"required":[84],"correcting":[85],"measures.":[86],"To":[87],"end,":[89],"paper":[91,177,243],"presents":[92],"robust":[94],"localization":[95,166,230],"system":[96,131,139,209,224],"for":[97,146,160],"global":[98],"pose":[99],"estimation":[100],"on":[101,134],"sewers.":[102],"makes":[104],"use":[105],"prior":[107],"information":[108],"network,":[112],"including":[113],"its":[114],"topology,":[115],"different":[117],"cross":[118],"sections":[119],"traversed":[120],"position":[123],"some":[125],"elements":[126],"manholes.":[129],"The":[130,150,222],"based":[133],"Monte":[136],"Carlo":[137],"Localization":[138,250],"that":[140,255],"fuses":[141],"wheel":[142],"RGB-D":[144],"odometry":[145],"prediction":[148],"stage.":[149],"update":[151],"step":[152],"takes":[153],"into":[154],"account":[155],"topology":[159],"discarding":[161],"wrong":[162],"hypotheses.":[163],"Additionally,":[164],"further":[168],"refined":[169],"with":[170,213,247],"novel":[171],"updating":[172],"steps":[173],"proposed":[174],"which":[178],"are":[179],"activated":[180],"whenever":[181],"discrete":[183],"element":[184],"detected":[190],"relative":[193],"orientation":[194],"robot":[197],"over":[198],"gallery":[201],"could":[202],"estimated.":[204],"Each":[205],"part":[206],"has":[210],"been":[211],"validated":[212],"real":[214],"data":[215],"obtained":[216],"sewers":[219],"Barcelona.":[221],"whole":[223],"able":[226],"obtain":[228],"median":[229],"errors":[231],"order":[234],"one":[236],"meter":[237],"all":[239],"cases.":[240],"Finally,":[241],"also":[244],"includes":[245],"comparisons":[246],"state-of-the-art":[248],"Simultaneous":[249],"Mapping":[252],"(SLAM)":[253],"systems":[254],"demonstrate":[256],"convenience":[258],"approach.":[261]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
