{"id":"https://openalex.org/W4401512586","doi":"https://doi.org/10.1007/s11235-024-01208-4","title":"Lightweight omnidirectional visual-inertial odometry for MAVs based on improved keyframe tracking and marginalization","display_name":"Lightweight omnidirectional visual-inertial odometry for MAVs based on improved keyframe tracking and marginalization","publication_year":2024,"publication_date":"2024-08-12","ids":{"openalex":"https://openalex.org/W4401512586","doi":"https://doi.org/10.1007/s11235-024-01208-4"},"language":"en","primary_location":{"id":"doi:10.1007/s11235-024-01208-4","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1007/s11235-024-01208-4","pdf_url":null,"source":{"id":"https://openalex.org/S145894672","display_name":"Telecommunication Systems","issn_l":"1018-4864","issn":["1018-4864","1572-9451"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Telecommunication Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5025988312","display_name":"Bo Gao","orcid":"https://orcid.org/0000-0002-2491-534X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Gao","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-2491-534X","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064348741","display_name":"Baowang Lian","orcid":"https://orcid.org/0000-0003-2457-0596"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baowang Lian","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010418315","display_name":"Chengkai Tang","orcid":"https://orcid.org/0000-0002-9008-0061"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chengkai Tang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-9008-0061","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5010418315"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":2790,"currency":"USD","value_usd":2790},"apc_paid":null,"fwci":2.1107,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90597721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"87","issue":"3","first_page":"723","last_page":"730"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8047648668289185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7069779634475708},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.681297242641449},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6807867884635925},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6650629043579102},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5893092751502991},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.545750081539154},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.48758643865585327},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4243260324001312},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.420772522687912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19559317827224731},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1185239851474762},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10387471318244934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8047648668289185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7069779634475708},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.681297242641449},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6807867884635925},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6650629043579102},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5893092751502991},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.545750081539154},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.48758643865585327},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4243260324001312},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.420772522687912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19559317827224731},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1185239851474762},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10387471318244934},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s11235-024-01208-4","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1007/s11235-024-01208-4","pdf_url":null,"source":{"id":"https://openalex.org/S145894672","display_name":"Telecommunication Systems","issn_l":"1018-4864","issn":["1018-4864","1572-9451"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Telecommunication Systems","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:spr:telsys:v:87:y:2024:i:3:d:10.1007_s11235-024-01208-4","is_oa":false,"landing_page_url":"http://link.springer.com/10.1007/s11235-024-01208-4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.800000011920929,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G5211147090","display_name":null,"funder_award_id":"62171735, 62271397, 62173276, 62101458, 61803310 and 61801394","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2091790851","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2249194483","https://openalex.org/W2336469227","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2564804471","https://openalex.org/W2736926039","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2809451359","https://openalex.org/W2884188043","https://openalex.org/W2898781364","https://openalex.org/W2903355354","https://openalex.org/W2995333702","https://openalex.org/W3006355472","https://openalex.org/W3012545410","https://openalex.org/W3043971245","https://openalex.org/W3044457298","https://openalex.org/W3084312447","https://openalex.org/W3098250009","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3102663996","https://openalex.org/W3104255671","https://openalex.org/W3117935769","https://openalex.org/W3136467467","https://openalex.org/W3149668108","https://openalex.org/W3155114782","https://openalex.org/W4213006452","https://openalex.org/W4246483956","https://openalex.org/W4283208835","https://openalex.org/W4285821042","https://openalex.org/W4315488865","https://openalex.org/W4319865644","https://openalex.org/W4383899637","https://openalex.org/W6618872416"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
