{"id":"https://openalex.org/W4303980468","doi":"https://doi.org/10.3390/s22197437","title":"A Coupled Visual and Inertial Measurement Units Method for Locating and Mapping in Coal Mine Tunnel","display_name":"A Coupled Visual and Inertial Measurement Units Method for Locating and Mapping in Coal Mine Tunnel","publication_year":2022,"publication_date":"2022-09-30","ids":{"openalex":"https://openalex.org/W4303980468","doi":"https://doi.org/10.3390/s22197437","pmid":"https://pubmed.ncbi.nlm.nih.gov/36236534"},"language":"en","primary_location":{"id":"doi:10.3390/s22197437","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22197437","pdf_url":"https://www.mdpi.com/1424-8220/22/19/7437/pdf?version=1664548898","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/1424-8220/22/19/7437/pdf?version=1664548898","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064594727","display_name":"Daixian Zhu","orcid":"https://orcid.org/0000-0003-4757-4194"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Daixian Zhu","raw_affiliation_strings":["College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":"https://orcid.org/0000-0003-4757-4194","affiliations":[{"raw_affiliation_string":"College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002253686","display_name":"Kangkang Ji","orcid":null},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kangkang Ji","raw_affiliation_strings":["College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101834938","display_name":"Dong Mei Wu","orcid":"https://orcid.org/0000-0002-9589-7900"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wu","raw_affiliation_strings":["College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":"https://orcid.org/0000-0002-9589-7900","affiliations":[{"raw_affiliation_string":"College of Communication and Information Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"College of Communication and Information Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100687258","display_name":"Shulin Liu","orcid":"https://orcid.org/0000-0001-5817-8483"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shulin Liu","raw_affiliation_strings":["College of Electrical and Control Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","College of Electrical and Control Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Control Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"College of Electrical and Control Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002253686","https://openalex.org/A5064594727"],"corresponding_institution_ids":["https://openalex.org/I110440473"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":7.6355,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96549543,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"22","issue":"19","first_page":"7437","last_page":"7437"},"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":0.9983000159263611,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.811626136302948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8045570850372314},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7722848653793335},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6946948170661926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5767379999160767},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.570292055606842},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4966283440589905},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4821764826774597},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45334362983703613},{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.4129120111465454},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.300041526556015},{"id":"https://openalex.org/keywords/coal","display_name":"Coal","score":0.10137182474136353}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.811626136302948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8045570850372314},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7722848653793335},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6946948170661926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5767379999160767},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.570292055606842},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4966283440589905},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4821764826774597},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45334362983703613},{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.4129120111465454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.300041526556015},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.10137182474136353},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003031","descriptor_name":"Coal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003031","descriptor_name":"Coal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003031","descriptor_name":"Coal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22197437","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22197437","pdf_url":"https://www.mdpi.com/1424-8220/22/19/7437/pdf?version=1664548898","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:36236534","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36236534","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:db826f64634b44428c2839cd0a424060","is_oa":true,"landing_page_url":"https://doaj.org/article/db826f64634b44428c2839cd0a424060","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 19, p 7437 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/19/7437/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22197437","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 19; Pages: 7437","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9572182","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9572182","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/s22197437","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22197437","pdf_url":"https://www.mdpi.com/1424-8220/22/19/7437/pdf?version=1664548898","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/G1324379137","display_name":null,"funder_award_id":"51774235","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/W4303980468.pdf","grobid_xml":"https://content.openalex.org/works/W4303980468.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1596812151","https://openalex.org/W1677409904","https://openalex.org/W1989484209","https://openalex.org/W2008849352","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2121683642","https://openalex.org/W2151103935","https://openalex.org/W2160072137","https://openalex.org/W2214788824","https://openalex.org/W2396274919","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2736621623","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2797929305","https://openalex.org/W2825851235","https://openalex.org/W2963600667","https://openalex.org/W2985178537","https://openalex.org/W2986242474","https://openalex.org/W2987901038","https://openalex.org/W3043971245","https://openalex.org/W3091198895","https://openalex.org/W3101808689","https://openalex.org/W3102327032","https://openalex.org/W3105612746","https://openalex.org/W3124420883","https://openalex.org/W3127364649","https://openalex.org/W4205802251","https://openalex.org/W6676770471"],"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/W1750372561","https://openalex.org/W2991246638","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"moving":[2],"fast":[3],"or":[4],"in":[5,40,74,119,190],"scenes":[6,191],"with":[7,175,192],"poor":[8],"lighting":[9,30],"conditions":[10],"often":[11,26],"cause":[12],"the":[13,23,29,34,37,58,61,64,69,114,117,120,167],"loss":[14],"of":[15,36,63,116,122],"visual":[16,52,137],"feature":[17,138],"tracking.":[18],"In":[19],"coal":[20,80,197],"mine":[21,81,198],"tunnels,":[22,82],"ground":[24],"is":[25,31,54,110,133,153],"bumpy":[27],"and":[28,60,71,87,95,107,126,140,161,171,179,187],"uneven.":[32],"During":[33],"movement":[35],"mobile":[38],"robot":[39],"this":[41],"scene,":[42],"there":[43],"will":[44],"be":[45],"violent":[46],"bumps.":[47],"The":[48,129],"localization":[49,70,86,170,186],"technology":[50],"through":[51],"features":[53,109],"greatly":[55],"affected":[56],"by":[57],"illumination":[59],"speed":[62],"camera":[65,94,178],"movement.":[66],"To":[67],"solve":[68],"mapping":[72,88,172],"problem":[73],"an":[75,96],"environment":[76,163],"similar":[77],"to":[78,112,135,155],"underground":[79],"we":[83],"improve":[84,113],"a":[85,92,176],"algorithm":[89,118,148],"based":[90,149],"on":[91,150],"monocular":[93,177],"Inertial":[97],"Measurement":[98],"Unit":[99],"(IMU).":[100],"A":[101,144],"feature-matching":[102],"method":[103,132],"that":[104,166],"combines":[105],"point":[106],"line":[108],"designed":[111],"robustness":[115],"presence":[121],"degraded":[123],"scene":[124],"structure":[125],"insufficient":[127,193],"illumination.":[128],"tightly":[130],"coupled":[131],"used":[134,154],"establish":[136],"constraints":[139],"IMU":[141,180],"pre-integration":[142],"constraints.":[143],"keyframe":[145],"nonlinear":[146],"optimization":[147],"sliding":[151],"windows":[152],"accomplish":[156],"state":[157],"estimation.":[158],"Extensive":[159],"simulations":[160],"practical":[162],"verification":[164],"show":[165],"improved":[168],"simultaneous":[169],"(SLAM)":[173],"system":[174],"fusion":[181],"can":[182],"achieve":[183],"accurate":[184],"autonomous":[185],"map":[188],"construction":[189],"light":[194],"such":[195],"as":[196],"tunnels.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
