{"id":"https://openalex.org/W4403846635","doi":"https://doi.org/10.1017/s0263574724001589","title":"A novel online time calibration framework via double-stage EKF for visual-inertial odometry","display_name":"A novel online time calibration framework via double-stage EKF for visual-inertial odometry","publication_year":2024,"publication_date":"2024-10-28","ids":{"openalex":"https://openalex.org/W4403846635","doi":"https://doi.org/10.1017/s0263574724001589"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001589","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001589","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/926E37A6CD22DA654EEE116DDB936096/S0263574724001589a.pdf/div-class-title-a-novel-online-time-calibration-framework-via-double-stage-ekf-for-visual-inertial-odometry-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/926E37A6CD22DA654EEE116DDB936096/S0263574724001589a.pdf/div-class-title-a-novel-online-time-calibration-framework-via-double-stage-ekf-for-visual-inertial-odometry-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021012603","display_name":"Shuaiyong Li","orcid":"https://orcid.org/0000-0002-3914-5173"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuaiyong Li","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111041596","display_name":"Jiawei Nie","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Nie","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-0510-279X","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109599949","display_name":"Chengchun Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengchun Guo","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397463","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-9061-3828"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032579154","display_name":"Lin Mei","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112488","display_name":"China Special Equipment Inspection and Research Institute","ror":"https://ror.org/01fmwwp26","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210112488"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Mei","raw_affiliation_strings":["Chongqing Special Equipment Inspection and Research Institute, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Special Equipment Inspection and Research Institute, Chongqing, China","institution_ids":["https://openalex.org/I4210112488"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5021012603"],"corresponding_institution_ids":["https://openalex.org/I10535382"],"apc_list":null,"apc_paid":null,"fwci":1.1646,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.87418126,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"42","issue":"11","first_page":"3675","last_page":"3691"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.773273229598999},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.688091516494751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6695458889007568},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.664772629737854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6424977779388428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6339014768600464},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6258642673492432},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.518279492855072},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.460117369890213},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4499538540840149},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.41800421476364136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1962338089942932},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14294788241386414},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12701761722564697},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09281429648399353},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06574994325637817}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.773273229598999},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.688091516494751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6695458889007568},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.664772629737854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6424977779388428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6339014768600464},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6258642673492432},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.518279492855072},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.460117369890213},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4499538540840149},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.41800421476364136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1962338089942932},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14294788241386414},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12701761722564697},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09281429648399353},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06574994325637817},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001589","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001589","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/926E37A6CD22DA654EEE116DDB936096/S0263574724001589a.pdf/div-class-title-a-novel-online-time-calibration-framework-via-double-stage-ekf-for-visual-inertial-odometry-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574724001589","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001589","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/926E37A6CD22DA654EEE116DDB936096/S0263574724001589a.pdf/div-class-title-a-novel-online-time-calibration-framework-via-double-stage-ekf-for-visual-inertial-odometry-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5,"display_name":"Peace, Justice and strong institutions"},{"id":"https://metadata.un.org/sdg/10","score":0.4099999964237213,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403846635.pdf","grobid_xml":"https://content.openalex.org/works/W4403846635.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1971591628","https://openalex.org/W1998058414","https://openalex.org/W2015147201","https://openalex.org/W2035379092","https://openalex.org/W2054289217","https://openalex.org/W2055904838","https://openalex.org/W2077751272","https://openalex.org/W2091790851","https://openalex.org/W2096925798","https://openalex.org/W2118223742","https://openalex.org/W2121514940","https://openalex.org/W2121875890","https://openalex.org/W2148516324","https://openalex.org/W2325922889","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2554336960","https://openalex.org/W2745859992","https://openalex.org/W2887564721","https://openalex.org/W2892240058","https://openalex.org/W2894976583","https://openalex.org/W2909157769","https://openalex.org/W2962987986","https://openalex.org/W2983756949","https://openalex.org/W3017995038","https://openalex.org/W3091667825","https://openalex.org/W3125449081","https://openalex.org/W3180550260","https://openalex.org/W3200535029","https://openalex.org/W4229333493","https://openalex.org/W4249582655"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Abstract":[0],"There":[1],"is":[2,47,58,82,106,121,139,155,179,216],"an":[3],"unavoidable":[4],"time":[5,39,104,153],"offset":[6,105,154],"between":[7,65,200],"the":[8,12,20,30,53,62,66,69,72,75,80,85,88,92,102,109,113,124,128,135,142,146,149,152,161,166,170,173,183,191,195,204,211,219,223],"camera":[9,184,207],"stream":[10],"and":[11,23,68,127,158,172,202,222],"inertial":[13],"measurement":[14,86],"unit":[15],"(IMU)":[16],"data":[17,167],"due":[18],"to":[19,108,164,181],"sensor":[21],"triggering":[22],"transmission":[24],"delays,":[25],"which":[26],"will":[27],"seriously":[28],"affect":[29],"accuracy":[31,205],"of":[32,87,112,119,131,148,197,206,213],"visual-inertial":[33],"odometry":[34],"(VIO).":[35],"A":[36],"novel":[37],"online":[38],"calibration":[40],"framework":[41],"via":[42],"double-stage":[43],"EKF":[44],"for":[45],"VIO":[46,114,150],"proposed":[48,214],"in":[49,71,190],"this":[50],"paper.":[51],"First,":[52],"first-stage":[54],"complementary":[55,63],"Kalman":[56],"filter":[57],"constructed":[59],"by":[60,79,169],"adapting":[61],"characteristics":[64],"accelerometer":[67,89],"gyroscope":[70,81],"IMU,":[73],"where":[74],"rotation":[76],"result":[77],"predicted":[78],"corrected":[83],"through":[84],"so":[90],"that":[91,186],"IMU":[93,120,162,171],"can":[94],"output":[95],"a":[96],"more":[97],"accurate":[98],"initial":[99],"pose.":[100],"Second,":[101],"unknown":[103],"added":[107],"state":[110,185],"vector":[111],"system.":[115],"The":[116,175],"estimated":[117],"pose":[118,208],"used":[122,140,180],"as":[123,141],"prediction":[125],"information,":[126],"reprojection":[129],"error":[130],"multiple":[132],"cameras":[133],"on":[134,160],"same":[136],"feature":[137],"point":[138],"constraint":[143],"information.":[144],"During":[145],"operation":[147],"system,":[151],"continuously":[156],"calculated":[157],"superimposed":[159],"timestamp":[163],"obtain":[165],"synchronized":[168],"camera.":[174],"Schur":[176],"complement":[177],"model":[178],"marginalize":[182],"carries":[187],"less":[188],"information":[189,199],"system":[192],"state,":[193],"avoiding":[194],"loss":[196],"prior":[198],"images,":[201],"improving":[203],"estimation.":[209],"Finally,":[210],"effectiveness":[212],"algorithm":[215],"verified":[217],"using":[218],"EuRoC":[220],"dataset":[221],"real":[224],"experimental":[225],"data.":[226]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
