{"id":"https://openalex.org/W4386168116","doi":"https://doi.org/10.3390/s23177424","title":"INS/LIDAR/Stereo SLAM Integration for Precision Navigation in GNSS-Denied Environments","display_name":"INS/LIDAR/Stereo SLAM Integration for Precision Navigation in GNSS-Denied Environments","publication_year":2023,"publication_date":"2023-08-25","ids":{"openalex":"https://openalex.org/W4386168116","doi":"https://doi.org/10.3390/s23177424","pmid":"https://pubmed.ncbi.nlm.nih.gov/37687880"},"language":"en","primary_location":{"id":"doi:10.3390/s23177424","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23177424","pdf_url":"https://www.mdpi.com/1424-8220/23/17/7424/pdf?version=1692961595","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/1424-8220/23/17/7424/pdf?version=1692961595","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073245451","display_name":"Nader Abdelaziz","orcid":"https://orcid.org/0000-0003-4290-0122"},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]},{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA","EG"],"is_corresponding":true,"raw_author_name":"Nader Abdelaziz","raw_affiliation_strings":["Department of Civil Engineering, Tanta University, Tanta 31527, Egypt","Department of Civil Engineering, Toronto Metropolitan University, Toronto, ON M5B 2K3, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil Engineering, Tanta University, Tanta 31527, Egypt","institution_ids":["https://openalex.org/I21376657"]},{"raw_affiliation_string":"Department of Civil Engineering, Toronto Metropolitan University, Toronto, ON M5B 2K3, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086020074","display_name":"Ahmed El\u2010Rabbany","orcid":null},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ahmed El-Rabbany","raw_affiliation_strings":["Department of Civil Engineering, Toronto Metropolitan University, Toronto, ON M5B 2K3, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil Engineering, Toronto Metropolitan University, Toronto, ON M5B 2K3, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073245451"],"corresponding_institution_ids":["https://openalex.org/I21376657","https://openalex.org/I530967"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.2924,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.97535727,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"23","issue":"17","first_page":"7424","last_page":"7424"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9968000054359436,"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":0.9958000183105469,"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/gnss-applications","display_name":"GNSS applications","score":0.8512052297592163},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6649169325828552},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6235888600349426},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5832824110984802},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5732449889183044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5490425825119019},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5329799056053162},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5298205018043518},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5171815156936646},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48567187786102295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4839213490486145},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4647620916366577},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35043442249298096},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.31978338956832886},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2159366011619568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16598260402679443},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.10863631963729858},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10656431317329407},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07083305716514587}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8512052297592163},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6649169325828552},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6235888600349426},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5832824110984802},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5732449889183044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5490425825119019},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5329799056053162},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5298205018043518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5171815156936646},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48567187786102295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4839213490486145},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4647620916366577},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35043442249298096},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31978338956832886},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2159366011619568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16598260402679443},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.10863631963729858},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10656431317329407},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07083305716514587},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/s23177424","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23177424","pdf_url":"https://www.mdpi.com/1424-8220/23/17/7424/pdf?version=1692961595","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:37687880","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37687880","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:pubmedcentral.nih.gov:10490647","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10490647","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10490647/pdf/sensors-23-07424.pdf","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"},{"id":"pmh:oai:doaj.org/article:a73bd50446294c97938821f538fcdb11","is_oa":true,"landing_page_url":"https://doaj.org/article/a73bd50446294c97938821f538fcdb11","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 23, Iss 17, p 7424 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/17/7424/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23177424","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 23; Issue 17; Pages: 7424","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23177424","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23177424","pdf_url":"https://www.mdpi.com/1424-8220/23/17/7424/pdf?version=1692961595","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.550000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320314607","display_name":"Government of Ontario","ror":"https://ror.org/015pzp858"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386168116.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2010444791","https://openalex.org/W2089662441","https://openalex.org/W2094293289","https://openalex.org/W2103216907","https://openalex.org/W2115579991","https://openalex.org/W2127600839","https://openalex.org/W2152671441","https://openalex.org/W2173178866","https://openalex.org/W2218842719","https://openalex.org/W2296228853","https://openalex.org/W2296816139","https://openalex.org/W2535547924","https://openalex.org/W2566918566","https://openalex.org/W2621274416","https://openalex.org/W2809953622","https://openalex.org/W2811252410","https://openalex.org/W2870699904","https://openalex.org/W2886738861","https://openalex.org/W2889869786","https://openalex.org/W2899072036","https://openalex.org/W2909908358","https://openalex.org/W3043971245","https://openalex.org/W3044216439","https://openalex.org/W3096779269","https://openalex.org/W3102327032","https://openalex.org/W3156850880","https://openalex.org/W3165511578","https://openalex.org/W4210980843","https://openalex.org/W4282601779","https://openalex.org/W4312210179","https://openalex.org/W4313404325","https://openalex.org/W4365146766","https://openalex.org/W6668041581","https://openalex.org/W6697304529"],"related_works":["https://openalex.org/W2393072194","https://openalex.org/W1535005230","https://openalex.org/W2911684682","https://openalex.org/W3043399618","https://openalex.org/W2162136131","https://openalex.org/W2783323062","https://openalex.org/W3215652957","https://openalex.org/W2986149760","https://openalex.org/W4200117214","https://openalex.org/W4386168116"],"abstract_inverted_index":{"Traditionally,":[0],"navigation":[1,8,12,65,84,98,159],"systems":[2,27],"have":[3],"relied":[4],"solely":[5],"on":[6,30],"global":[7],"satellite":[9],"system":[10,13,101,160,205],"(GNSS)/inertial":[11],"(INS)":[14],"integration.":[15],"When":[16],"a":[17,183],"temporal":[18],"loss":[19],"of":[20,37,71,118,130,185,210,212],"GNSS":[21,132],"signal":[22],"lock":[23],"is":[24,53,86,152],"encountered,":[25],"these":[26],"would":[28],"rely":[29],"INS,":[31],"which":[32,81,93],"can":[33],"sustain":[34],"short":[35],"bursts":[36],"outages,":[38],"albeit":[39],"drift":[40],"significantly":[41],"in":[42,108,126,146,165,194],"prolonged":[43],"outages.":[44],"In":[45,134,201],"this":[46],"study,":[47],"an":[48,57],"extended":[49],"Kalman":[50],"filter":[51,73],"(EKF)":[52],"proposed":[54,156,204],"to":[55,167],"develop":[56],"integrated":[58,87,97],"INS/LiDAR/Stereo":[59,157],"simultaneous":[60],"localization":[61],"and":[62,110,120,142,148,192,197],"mapping":[63],"(SLAM)":[64],"system.":[66],"The":[67,100,177],"first":[68],"update":[69],"stage":[70],"the":[72,75,78,82,89,95,114,127,131,136,155,169,186,195,203,207,213],"integrates":[74],"INS":[76,170],"with":[77,88],"LiDAR,":[79],"after":[80],"resultant":[83],"solution":[85],"stereo":[90],"SLAM":[91,158],"solution,":[92],"yields":[94],"final":[96],"solution.":[99],"was":[102,180],"tested":[103],"for":[104],"different":[105],"driving":[106,144],"scenarios":[107],"urban":[109],"rural":[111],"environments":[112],"using":[113,168],"raw":[115],"Karlsruhe":[116],"Institute":[117,123],"Technology":[119],"Toyota":[121],"Technological":[122],"(KITTI)":[124],"dataset":[125],"complete":[128],"absence":[129],"signal.":[133],"addition,":[135,202],"selected":[137],"KITTI":[138],"drives":[139],"covered":[140],"low":[141],"high":[143],"speeds":[145],"feature-rich":[147],"feature-poor":[149],"environments.":[150],"It":[151],"shown":[153],"that":[154],"yielded":[161],"better":[162],"position":[163],"estimations":[164],"comparison":[166],"without":[171],"any":[172],"assistance":[173],"from":[174],"onboard":[175],"sensors.":[176],"accuracy":[178,209],"improvement":[179],"expressed":[181],"as":[182],"reduction":[184],"root-mean-square":[187],"error":[188],"(RMSE)":[189],"by":[190],"83%":[191],"82%":[193],"horizontal":[196],"up":[198],"directions,":[199],"respectively.":[200],"outperformed":[206],"positioning":[208],"some":[211],"state-of-the-art":[214],"algorithms.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
