{"id":"https://openalex.org/W4213267237","doi":"https://doi.org/10.3390/s22041463","title":"Accurate Real-Time Localization Estimation in Underground Mine Environments Based on a Distance-Weight Map (DWM)","display_name":"Accurate Real-Time Localization Estimation in Underground Mine Environments Based on a Distance-Weight Map (DWM)","publication_year":2022,"publication_date":"2022-02-14","ids":{"openalex":"https://openalex.org/W4213267237","doi":"https://doi.org/10.3390/s22041463","pmid":"https://pubmed.ncbi.nlm.nih.gov/35214363"},"language":"en","primary_location":{"id":"doi:10.3390/s22041463","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22041463","pdf_url":"https://www.mdpi.com/1424-8220/22/4/1463/pdf?version=1645085555","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/1424-8220/22/4/1463/pdf?version=1645085555","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060315582","display_name":"Zhuli Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I2801198744","display_name":"State Administration of Work Safety","ror":"https://ror.org/02v5bck07","country_code":"CN","type":"government","lineage":["https://openalex.org/I2801198744"]},{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhuli Ren","raw_affiliation_strings":["Collaborative Innovation Center of Coal Work Safety and Clean High Efficiency Utilization, Jiaozuo 454000, China","School of Energy Science and Engineering, Henan Polytechnic University, Jiaozuo 454000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Innovation Center of Coal Work Safety and Clean High Efficiency Utilization, Jiaozuo 454000, China","institution_ids":["https://openalex.org/I2801198744"]},{"raw_affiliation_string":"School of Energy Science and Engineering, Henan Polytechnic University, Jiaozuo 454000, China","institution_ids":["https://openalex.org/I4210166499"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106657395","display_name":"Liguan Wang","orcid":"https://orcid.org/0000-0002-3120-7464"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liguan Wang","raw_affiliation_strings":["Digital Mine Research Center, Central South University, Changsha 410083, China","School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Mine Research Center, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060315582"],"corresponding_institution_ids":["https://openalex.org/I2801198744","https://openalex.org/I4210166499"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.1904,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97347876,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"22","issue":"4","first_page":"1463","last_page":"1463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6862047910690308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6226459741592407},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.58504718542099},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5318002104759216},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5286479592323303},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.523961067199707},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5131703019142151},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.47180119156837463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4671829044818878},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4531455636024475},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43031638860702515},{"id":"https://openalex.org/keywords/underground-mining","display_name":"Underground mining (soft rock)","score":0.4143053889274597},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40827053785324097},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3710055351257324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1980072259902954},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19172167778015137},{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.18751710653305054}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6862047910690308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6226459741592407},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.58504718542099},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5318002104759216},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5286479592323303},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.523961067199707},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5131703019142151},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.47180119156837463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4671829044818878},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4531455636024475},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43031638860702515},{"id":"https://openalex.org/C2780486870","wikidata":"https://www.wikidata.org/wiki/Q105965361","display_name":"Underground mining (soft rock)","level":4,"score":0.4143053889274597},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40827053785324097},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3710055351257324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1980072259902954},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19172167778015137},{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.18751710653305054},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22041463","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22041463","pdf_url":"https://www.mdpi.com/1424-8220/22/4/1463/pdf?version=1645085555","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:35214363","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35214363","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:722fcde04bb449b8a162866e65a77c82","is_oa":true,"landing_page_url":"https://doaj.org/article/722fcde04bb449b8a162866e65a77c82","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 22, Iss 4, p 1463 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/4/1463/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22041463","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; Volume 22; Issue 4; Pages: 1463","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8874530","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8874530","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/s22041463","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22041463","pdf_url":"https://www.mdpi.com/1424-8220/22/4/1463/pdf?version=1645085555","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":[{"score":0.49000000953674316,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4213267237.pdf","grobid_xml":"https://content.openalex.org/works/W4213267237.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W92136900","https://openalex.org/W342989964","https://openalex.org/W1505859121","https://openalex.org/W1552518809","https://openalex.org/W1677409904","https://openalex.org/W1831258177","https://openalex.org/W1883991860","https://openalex.org/W1994959326","https://openalex.org/W1999050017","https://openalex.org/W2025067427","https://openalex.org/W2032163292","https://openalex.org/W2040052921","https://openalex.org/W2046635640","https://openalex.org/W2062858132","https://openalex.org/W2110405746","https://openalex.org/W2115202439","https://openalex.org/W2115675575","https://openalex.org/W2117228865","https://openalex.org/W2119362555","https://openalex.org/W2130422193","https://openalex.org/W2140927080","https://openalex.org/W2141595093","https://openalex.org/W2142109089","https://openalex.org/W2143864104","https://openalex.org/W2148228392","https://openalex.org/W2148820580","https://openalex.org/W2152671441","https://openalex.org/W2154805788","https://openalex.org/W2156070358","https://openalex.org/W2158290949","https://openalex.org/W2158692090","https://openalex.org/W2296228853","https://openalex.org/W2338856263","https://openalex.org/W2509369351","https://openalex.org/W2585328055","https://openalex.org/W2910489334","https://openalex.org/W2911107863","https://openalex.org/W2954312769","https://openalex.org/W2966851241","https://openalex.org/W2972287291","https://openalex.org/W3000613877","https://openalex.org/W3118814291","https://openalex.org/W3119669586","https://openalex.org/W3195382559","https://openalex.org/W3198864571","https://openalex.org/W6674969417","https://openalex.org/W6683461146","https://openalex.org/W6801246445"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"The":[0,66,98,114,176],"precise":[1],"localization":[2,60,104,133,144,174,187],"of":[3,43,105,146,163],"an":[4,19,125,189],"underground":[5,15,20,59,67,107,139,190],"mine":[6,68,108,191],"environment":[7,69,109],"is":[8,23,34],"key":[9],"to":[10,84,173],"achieving":[11],"unmanned":[12],"and":[13,28,40,46,76,121,149,167],"intelligent":[14],"mining.":[16],"However,":[17],"in":[18,37,124,137,188],"environment,":[21],"GPS":[22],"unavailable,":[24],"there":[25,33],"are":[26],"variable":[27],"often":[29],"poor":[30],"lighting":[31],"conditions,":[32],"visual":[35],"aliasing":[36],"long":[38],"tunnels,":[39],"the":[41,103,106,111,132,161,164],"occurrence":[42],"airborne":[44],"dust":[45],"water,":[47],"presenting":[48],"great":[49],"difficulty":[50],"for":[51,102,110],"localization.":[52],"We":[53,158],"demonstrate":[54],"a":[55,94,142],"high-precision,":[56],"real-time,":[57],"without-infrastructure":[58],"method":[61,134],"based":[62,73,88],"on":[63,74,89],"3D":[64],"LIDAR.":[65],"map":[70,96,99],"was":[71,81,100,135],"constructed":[72],"GICP-SLAM,":[75],"inverse":[77],"distance":[78],"weighting":[79],"(IDW)":[80],"first":[82,112],"proposed":[83],"implement":[85],"error":[86,145],"correction":[87],"point":[90,117,168],"cloud":[91,118,169],"mapping":[92],"called":[93],"distance-weight":[95],"(DWM).":[97],"used":[101],"time.":[113],"approach":[115],"combines":[116],"frames":[119],"matching":[120,123],"DWM":[122],"unscented":[126],"Kalman":[127],"filter":[128],"fusion":[129],"process.":[130],"Finally,":[131],"tested":[136],"four":[138],"scenes,":[140],"where":[141],"spatial":[143],"4":[147],"cm":[148],"60":[150],"ms":[151],"processing":[152],"time":[153],"per":[154],"frame":[155],"were":[156],"obtained.":[157],"also":[159],"analyze":[160],"impact":[162],"initial":[165],"pose":[166],"segmentation":[170],"with":[171],"respect":[172],"accuracy.":[175],"results":[177],"showed":[178],"that":[179],"this":[180],"new":[181],"algorithm":[182],"can":[183],"realize":[184],"low-drift,":[185],"real-time":[186],"environment.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-20T22:02:38.213706","created_date":"2025-10-10T00:00:00"}
