# 3-D Ultrasonic Localization of Transformer Patrol Robot Based on EMD and PHAT-β Algorithms

> Research article (IEEE Transactions on Instrumentation and Measurement, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W3198407946](https://www.wikidata.org/wiki/openalex:W3198407946)  
**Source**: https://4ort.xyz/entity/3-d-ultrasonic-localization-of-transformer-patrol-robot-based-on-emd-and-phat-algorithms