{"id":"https://openalex.org/W7165652827","doi":"https://doi.org/10.48550/arxiv.2606.21223","title":"Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems","display_name":"Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems","publication_year":2026,"publication_date":"2026-06-19","ids":{"openalex":"https://openalex.org/W7165652827","doi":"https://doi.org/10.48550/arxiv.2606.21223"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.21223","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.21223","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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.21223","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100600477","display_name":"Yi Tian","orcid":"https://orcid.org/0000-0002-0831-6275"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Yihong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139148087","display_name":"Junjie Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Junjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102826112","display_name":"Liuyang Li","orcid":"https://orcid.org/0000-0002-6132-3589"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Liuyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139182519","display_name":"Deteng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Deteng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139212380","display_name":"Yunfei Zuo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zuo, Yunfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139207935","display_name":"Jie Yin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Jie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8727999925613403,"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":0.8727999925613403,"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.030799999833106995,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.015699999406933784,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.737500011920929},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6363999843597412},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6037999987602234},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5713000297546387},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5406000018119812},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5372999906539917},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5084999799728394},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4957999885082245}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.737500011920929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6629999876022339},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6363999843597412},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6037999987602234},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5964000225067139},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5713000297546387},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5406000018119812},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5372999906539917},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4957999885082245},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.38100001215934753},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.36550000309944153},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.36320000886917114},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.2939999997615814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2913999855518341},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.2702000141143799},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26179999113082886},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.25519999861717224},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.21223","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.21223","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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.21223","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.21223","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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reliable":[0],"localization":[1,65,85,187],"is":[2],"essential":[3],"for":[4,189],"intelligent":[5],"transportation":[6],"systems":[7,31,158],"(ITS),":[8],"including":[9],"autonomous":[10],"vehicles,":[11],"quadruped":[12],"last-mile":[13],"carriers,":[14],"and":[15,44,48,61,74,97,110,115,130,138,151,164,174,179,183,193,196,204,212],"infrastructure-inspection":[16],"unmanned":[17],"aerial":[18,175,198],"vehicles":[19],"(UAVs).":[20],"Although":[21],"tightly-coupled":[22,83],"multi-sensor":[23,84],"fusion":[24],"improves":[25],"accuracy":[26,170],"in":[27,57],"favorable":[28],"conditions,":[29],"deployed":[30],"remain":[32],"vulnerable":[33],"to":[34,49],"sensor":[35],"degradation":[36],"--":[37,47],"poor":[38],"illumination,":[39],"LiDAR":[40],"degeneracy,":[41],"wheel":[42,114],"slippage,":[43],"GNSS":[45,116],"outage":[46],"spatiotemporal":[50,133],"calibration":[51,134,184],"errors.":[52],"These":[53],"failures":[54],"are":[55,95],"common":[56],"urban":[58],"canyons,":[59],"tunnels,":[60],"high-speed":[62,180],"corridors,":[63],"where":[64],"drift":[66],"can":[67],"degrade":[68],"route":[69],"tracking,":[70],"tunnel":[71],"passage":[72],"continuity,":[73],"local":[75],"map":[76],"alignment.":[77],"This":[78],"paper":[79,215],"presents":[80],"Ultra-Fusion,":[81],"a":[82,89],"framework":[86],"based":[87],"on":[88,159],"unified":[90],"sliding-window":[91],"estimator.":[92],"Asynchronous":[93],"measurements":[94],"timestamp-ordered":[96],"converted":[98],"into":[99],"optional":[100,113],"factors":[101],"within":[102],"one":[103],"optimization":[104],"window,":[105],"supporting":[106],"WIO,":[107],"VIO,":[108],"LIO,":[109],"LVIO":[111],"with":[112,148],"augmentation.":[117],"Observability-aware":[118],"initialization":[119],"selects":[120],"the":[121,145,202],"bootstrap":[122],"mode,":[123],"factor-wise":[124],"reliability":[125],"scheduling":[126],"gates":[127],"degraded":[128],"measurements,":[129],"online":[131],"LiDAR--IMU":[132],"refines":[135],"temporal":[136],"offsets":[137],"rotational":[139],"extrinsics":[140],"during":[141],"operation.":[142],"We":[143],"extend":[144],"M3DGR":[146],"benchmark":[147],"simulation":[149],"trajectories":[150],"evaluate":[152],"more":[153],"than":[154],"60":[155],"open-source":[156],"SLAM":[157],"M3DGR,":[160],"M2DGR-Plus,":[161],"KAIST,":[162],"GrandTour,":[163],"MARS-LVIG.":[165],"The":[166],"results":[167],"show":[168],"competitive":[169],"across":[171],"wheeled,":[172],"legged,":[173],"platforms":[176],"under":[177],"long-duration":[178],"operation,":[181],"degradation,":[182],"perturbation,":[185],"improving":[186],"availability":[188],"road-level":[190],"autonomy,":[191],"campus":[192],"warehouse":[194],"mobility,":[195],"low-altitude":[197],"inspection.":[199],"To":[200],"benefit":[201],"industrial":[203],"academic":[205],"community,":[206],"we":[207],"will":[208],"release":[209],"source":[210],"code":[211],"datasets":[213],"upon":[214],"acceptance.":[216]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-24T00:00:00"}