{"id":"https://openalex.org/W2972019882","doi":"https://doi.org/10.1007/978-3-030-95459-8_58","title":"Contact Inertial Odometry: Collisions are your Friends","display_name":"Contact Inertial Odometry: Collisions are your Friends","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W2972019882","doi":"https://doi.org/10.1007/978-3-030-95459-8_58","mag":"2972019882"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-95459-8_58","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_58","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.00079","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085222818","display_name":"Thomas Lew","orcid":"https://orcid.org/0000-0002-8209-3604"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Thomas Lew","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019638207","display_name":"Tomoki Emmei","orcid":"https://orcid.org/0000-0002-8071-6791"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoki Emmei","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060041624","display_name":"David Fan","orcid":"https://orcid.org/0000-0002-9217-5451"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David D. Fan","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077779960","display_name":"Tara Bartlett","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Bartlett","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002079674","display_name":"\u00c0ngel Santamaria\u2010Navarro","orcid":"https://orcid.org/0000-0002-6328-1423"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Angel Santamaria-Navarro","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113893653","display_name":"Rohan Thakker","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Thakker","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, California, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5085222818"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.0008344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"938","last_page":"958"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/odometry","display_name":"Odometry","score":0.8833944797515869},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6910009384155273},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6841152310371399},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6815531253814697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6496157646179199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5708451271057129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5687659978866577},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5326141119003296},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5237196087837219},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5067649483680725},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.46455949544906616},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4484027028083801},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2578451931476593},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0868903398513794}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8833944797515869},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6910009384155273},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6841152310371399},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6815531253814697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6496157646179199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5708451271057129},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5687659978866577},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5326141119003296},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5237196087837219},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5067649483680725},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.46455949544906616},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4484027028083801},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2578451931476593},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0868903398513794},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/978-3-030-95459-8_58","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_58","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:arXiv.org:1909.00079","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.00079","pdf_url":"https://arxiv.org/pdf/1909.00079","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2972019882","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1909.00079","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.00079","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.00079","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:oai:arXiv.org:1909.00079","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.00079","pdf_url":"https://arxiv.org/pdf/1909.00079","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1943808550","https://openalex.org/W1945123189","https://openalex.org/W1973835491","https://openalex.org/W2104963735","https://openalex.org/W2109656638","https://openalex.org/W2112714380","https://openalex.org/W2124756273","https://openalex.org/W2143946966","https://openalex.org/W2160626949","https://openalex.org/W2168992242","https://openalex.org/W2296267969","https://openalex.org/W2343568200","https://openalex.org/W2471867314","https://openalex.org/W2482392012","https://openalex.org/W2501311317","https://openalex.org/W2523980053","https://openalex.org/W2762878490","https://openalex.org/W2773972550","https://openalex.org/W2883735935","https://openalex.org/W2897946272","https://openalex.org/W2912095538","https://openalex.org/W2946139622","https://openalex.org/W2953109067","https://openalex.org/W2968208971","https://openalex.org/W2979105428","https://openalex.org/W3003464919","https://openalex.org/W3080090294","https://openalex.org/W3100874234","https://openalex.org/W3103648783","https://openalex.org/W4213320597"],"related_works":["https://openalex.org/W3080622745","https://openalex.org/W2953109067","https://openalex.org/W3186729138","https://openalex.org/W2973216148","https://openalex.org/W2750016849","https://openalex.org/W3209151006","https://openalex.org/W3135725567","https://openalex.org/W3177952651","https://openalex.org/W2313576902","https://openalex.org/W3118753909","https://openalex.org/W3109734018","https://openalex.org/W2560100775","https://openalex.org/W3085480136","https://openalex.org/W3207695208","https://openalex.org/W3099026630","https://openalex.org/W2750656378","https://openalex.org/W3087780820","https://openalex.org/W2898271082","https://openalex.org/W3081681705","https://openalex.org/W2473476959"],"abstract_inverted_index":null,"counts_by_year":[{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
