{"id":"https://openalex.org/W1600253288","doi":null,"title":"Self-Calibration of Inertial and Omnidirectional Visual Sensors for Navigation and Mapping","display_name":"Self-Calibration of Inertial and Omnidirectional Visual Sensors for Navigation and Mapping","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1600253288","mag":"1600253288"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.227.5915","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.227.5915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cres.usc.edu/pubdb_html/files_upload/674.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001210516","display_name":"Jonathan W. Kelly","orcid":"https://orcid.org/0000-0002-5528-6136","observed_orcids":["https://orcid.org/0000-0002-5528-6136"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Kelly","raw_affiliation_strings":["University of Southern California"],"raw_orcid":"https://orcid.org/0000-0002-5528-6136","affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X","observed_orcids":["https://orcid.org/0000-0003-2408-474X"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S. Sukhatme","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"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":0.7437000274658203,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7437000274658203,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.25270000100135803,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/self-calibration","display_name":"self-calibration","score":0.8619999885559082},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"omnidirectional camera","score":0.9259999990463257},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.9929999709129333},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.718999981880188},{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":0.9739999771118164},{"id":"https://openalex.org/keywords/imu-bias-estimation","display_name":"IMU bias estimation","score":0.9660000205039978},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.8420000076293945},{"id":"https://openalex.org/keywords/robotic-mapping","display_name":"robot mapping","score":0.6539999842643738},{"id":"https://openalex.org/keywords/low-cost-imu","display_name":"low-cost IMU","score":0.8309999704360962}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8598139882087708},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8177657127380371},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.7897294759750366},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7110387682914734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6959213614463806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6684257388114929},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5402758717536926},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5298107862472534},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.46910008788108826},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4347125291824341},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42300593852996826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29798901081085205},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28415447473526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15885081887245178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12030330300331116},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.227.5915","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.227.5915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cres.usc.edu/pubdb_html/files_upload/674.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.680.2650","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.680.2650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dei.unipd.it/%7Eemg/omniRoboVis2010/OmniRoboVis2010/Program_files/omnirobovis2010_submission_1.pdf","raw_type":"text"},{"id":"mag:1600253288","doi":null,"is_oa":false,"landing_page_url":"http://www.dei.unipd.it/~emg/omniRoboVis2010/OmniRoboVis2010/Program_files/omnirobovis2010_submission_1.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Robotics and Automation","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W605763459","https://openalex.org/W1559224780","https://openalex.org/W1643815198","https://openalex.org/W1990124658","https://openalex.org/W2026891225","https://openalex.org/W2085742889","https://openalex.org/W2114421438","https://openalex.org/W2118223742","https://openalex.org/W2123487311","https://openalex.org/W2128516964","https://openalex.org/W2131752723","https://openalex.org/W2136858523","https://openalex.org/W2139834417","https://openalex.org/W2140924050","https://openalex.org/W2140998418","https://openalex.org/W2143425822","https://openalex.org/W2150064935","https://openalex.org/W2151103935"],"related_works":["https://openalex.org/W2147536420","https://openalex.org/W2128516964","https://openalex.org/W1974835111","https://openalex.org/W7100938137","https://openalex.org/W2102344727","https://openalex.org/W2111535872","https://openalex.org/W7095906807","https://openalex.org/W638477616","https://openalex.org/W2144284058","https://openalex.org/W2043577850"],"abstract_inverted_index":{"Abstract":[0],"\u2014":[1],"Omnidirectional":[2],"cameras":[3],"are":[4,8],"versatile":[5],"sensors":[6,58],"that":[7,90],"able":[9],"to":[10,33],"provide":[11],"a":[12,27,49,129,144],"full":[13],"360-degree":[14],"view":[15],"of":[16,78,151],"the":[17,36,53,57,72,79,91,94,99,125,152],"environment.":[18],"When":[19],"combined":[20],"with":[21,139],"inertial":[22,44],"sensing,":[23],"omnidirectional":[24,40,83,141],"vision":[25],"offers":[26],"potentially":[28],"robust":[29],"navigation":[30,51],"solution.":[31],"However,":[32],"correctly":[34],"fuse":[35],"data":[37],"from":[38,107,136],"an":[39,43,68,82,86,140],"camera":[41,84,108,142],"and":[42,85,98,109,143],"measurement":[45],"unit":[46],"(IMU)":[47],"into":[48],"single":[50],"frame,":[52],"6-DOF":[54,153],"transform":[55,80],"between":[56,81],"must":[59],"be":[60,105],"accurately":[61],"known.":[62],"In":[63],"this":[64],"paper":[65],"we":[66],"describe":[67],"algorithm,":[69],"based":[70],"on":[71],"unscented":[73],"Kalman":[74],"filter,":[75],"for":[76],"self-calibration":[77,150],"IMU.":[87],"We":[88,133],"show":[89],"IMU":[92,110],"biases,":[93],"local":[95],"gravity":[96],"vector,":[97],"metric":[100],"scene":[101],"structure":[102],"can":[103],"also":[104],"recovered":[106],"measurements.":[111],"Further,":[112],"our":[113],"approach":[114],"does":[115],"not":[116],"require":[117],"any":[118],"additional":[119],"hardware":[120],"or":[121],"prior":[122],"knowledge":[123],"about":[124],"environment":[126],"in":[127],"which":[128,147],"robot":[130],"is":[131],"operating.":[132],"present":[134],"results":[135],"calibration":[137],"experiments":[138],"low-cost":[145],"IMU,":[146],"demonstrate":[148],"accurate":[149],"sensor-to-sensor":[154],"transform.":[155],"I.":[156]},"counts_by_year":[],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2016-06-24T00:00:00"}
