{"id":"https://openalex.org/W6910535267","doi":"https://doi.org/10.48550/arxiv.2503.13568","title":"WMINet: A Wheel-Mounted Inertial Learning Approach For Mobile-Robot Positioning","display_name":"WMINet: A Wheel-Mounted Inertial Learning Approach For Mobile-Robot Positioning","publication_year":2025,"publication_date":"2025-03-17","ids":{"openalex":"https://openalex.org/W6910535267","doi":"https://doi.org/10.48550/arxiv.2503.13568"},"language":"en","primary_location":{"id":"pmh:doi:10.48550/arxiv.2503.13568","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Versano, Gal","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Versano, Gal","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Klein, Itzik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Klein, Itzik","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8001999855041504,"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":0.8001999855041504,"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":0.0966000035405159,"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":0.039799999445676804,"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/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7242000102996826},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6920999884605408},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6481000185012817},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5468999743461609},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.46230000257492065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4528000056743622},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.37779998779296875},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.35420000553131104}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7242000102996826},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6920999884605408},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6481000185012817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6037999987602234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705999732017517},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5468999743461609},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4932999908924103},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4528000056743622},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.37779998779296875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36649999022483826},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.35420000553131104},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.34540000557899475},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3337000012397766},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32429999113082886},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3052999973297119},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C178001088","wikidata":"https://www.wikidata.org/wiki/Q2583453","display_name":"Wind triangle","level":5,"score":0.28850001096725464},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.26489999890327454},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C189096121","wikidata":"https://www.wikidata.org/wiki/Q6028512","display_name":"Inertial reference unit","level":4,"score":0.2563000023365021}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2503.13568","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2503.13568","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2503.13568","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2503.13568","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1,60,88],"robots":[2],"are":[3],"widely":[4],"used":[5],"for":[6,160],"navigation,":[7],"transportation,":[8],"and":[9,13,85,145],"inspection":[10],"tasks":[11],"indoors":[12],"outdoors.":[14],"In":[15,32,45],"practical":[16,76],"situations":[17],"of":[18],"limited":[19],"satellite":[20],"signals":[21],"or":[22],"poor":[23],"lighting":[24],"conditions,":[25],"navigation":[26,36,141,155],"depends":[27],"only":[28,64,157],"on":[29,65],"inertial":[30,42,53,67,80,149,158],"sensors.":[31,68],"such":[33],"cases,":[34],"the":[35,59,87,112,147],"solution":[37],"rapidly":[38],"drifts":[39],"due":[40],"to":[41,57,78,99],"measurement":[43],"errors.":[44],"this":[46],"work,":[47],"we":[48,72,94,109],"propose":[49],"WMINet":[50],"a":[51,82,96,114,129,136],"wheel-mounted":[52,83,115],"deep":[54],"learning":[55],"approach":[56,84,108,127,139],"estimate":[58],"robot's":[61],"position":[62],"based":[63],"its":[66],"To":[69,104],"that":[70],"end,":[71],"merge":[73],"two":[74],"common":[75],"methods":[77],"reduce":[79],"drift:":[81],"driving":[86],"robot":[89,154],"in":[90,142],"periodic":[91],"trajectories.":[92],"Additionally,":[93],"enforce":[95],"wheelbase":[97],"constraint":[98],"further":[100],"improve":[101],"positioning":[102],"performance.":[103],"evaluate":[105],"our":[106,138],"proposed":[107],"recorded":[110],"using":[111,156],"Rosbot-XL":[113],"initial":[116],"dataset":[117],"totaling":[118],"190":[119],"minutes,":[120],"which":[121],"is":[122],"made":[123],"publicly":[124],"available.":[125],"Our":[126],"demonstrated":[128],"66\\%":[130],"improvement":[131],"over":[132],"state-of-the-art":[133],"approaches.":[134],"As":[135],"consequence,":[137],"enables":[140,152],"challenging":[143],"environments":[144],"bridges":[146],"pure":[148],"gap.":[150],"This":[151],"seamless":[153],"sensors":[159],"short":[161],"periods.":[162]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}