{"id":"https://openalex.org/W3034861670","doi":"https://doi.org/10.1109/access.2020.3000555","title":"SIMSF: A Scale Insensitive Multi-Sensor Fusion Framework for Unmanned Aerial Vehicles Based on Graph Optimization","display_name":"SIMSF: A Scale Insensitive Multi-Sensor Fusion Framework for Unmanned Aerial Vehicles Based on Graph Optimization","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3034861670","doi":"https://doi.org/10.1109/access.2020.3000555","mag":"3034861670"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3000555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3000555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09110577.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09110577.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101416182","display_name":"Bo Dai","orcid":"https://orcid.org/0000-0003-1862-7234"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Dai","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1862-7234","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654736","display_name":"Yuqing He","orcid":"https://orcid.org/0000-0001-5067-1169"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqing He","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-5067-1169","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662481","display_name":"Liying Yang","orcid":"https://orcid.org/0000-0001-6833-8540"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liying Yang","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6833-8540","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079654694","display_name":"Yun Su","orcid":"https://orcid.org/0000-0003-0217-4373"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Su","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0217-4373","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100407852","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-1960-0992"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Weiliang Xu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101416182"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":11.4029,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97773173,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"118273","last_page":"118284"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9923999905586243,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9848999977111816,"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":0.7537851333618164},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7504280805587769},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7293788194656372},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6710246205329895},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.626926839351654},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6189403533935547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6019841432571411},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.50495845079422},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4680737257003784},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44683459401130676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11010760068893433},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08119350671768188}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7537851333618164},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7504280805587769},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7293788194656372},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6710246205329895},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.626926839351654},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6189403533935547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6019841432571411},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.50495845079422},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4680737257003784},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44683459401130676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11010760068893433},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08119350671768188},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3000555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3000555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09110577.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9aeaf3fa22714ef4b183795cde34de25","is_oa":true,"landing_page_url":"https://doaj.org/article/9aeaf3fa22714ef4b183795cde34de25","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 118273-118284 (2020)","raw_type":"article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/145617","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/145617","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:ir.sia.cn/:173321/27515","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/27515","pdf_url":null,"source":{"id":"https://openalex.org/S4377196984","display_name":"SIA OpenIR (Chinese Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I19820366","host_organization_name":"Chinese Academy of Sciences","host_organization_lineage":["https://openalex.org/I19820366"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3000555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3000555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09110577.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2108702246","display_name":null,"funder_award_id":"2017YFC0822201","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2273892889","display_name":null,"funder_award_id":"U1608253","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7928189182","display_name":null,"funder_award_id":"91648204","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"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3034861670.pdf","grobid_xml":"https://content.openalex.org/works/W3034861670.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1979843398","https://openalex.org/W1993523669","https://openalex.org/W2015996585","https://openalex.org/W2055429482","https://openalex.org/W2060794637","https://openalex.org/W2061319289","https://openalex.org/W2091790851","https://openalex.org/W2108023813","https://openalex.org/W2115930333","https://openalex.org/W2127752689","https://openalex.org/W2140599684","https://openalex.org/W2165468899","https://openalex.org/W2204575239","https://openalex.org/W2211874131","https://openalex.org/W2296228853","https://openalex.org/W2535547924","https://openalex.org/W2547544609","https://openalex.org/W2562542491","https://openalex.org/W2609294517","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2792006036","https://openalex.org/W2909908358","https://openalex.org/W2996945478","https://openalex.org/W3102327032","https://openalex.org/W3144404684","https://openalex.org/W4246614213","https://openalex.org/W4249592091","https://openalex.org/W4394659040","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2593280956","https://openalex.org/W2998370018","https://openalex.org/W2004312940","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011"],"abstract_inverted_index":{"Given":[0],"the":[1,90,94,101,115,119,122,129,132,148,151,168,171,195,202],"payload":[2],"limitation":[3],"of":[4,43,48,93,106,118,131,170,209],"unmanned":[5],"aerial":[6],"vehicles":[7],"(UAVs),":[8],"lightweight":[9],"sensors":[10,98],"such":[11,65],"as":[12,66,227],"camera,":[13],"inertial":[14,55],"measurement":[15,23],"unit":[16],"(IMU),":[17],"and":[18,62,96,121,153,183,194,206],"GPS,":[19],"are":[20,177],"ideal":[21],"onboard":[22],"devices.":[24],"By":[25],"fusing":[26],"multiple":[27],"sensors,":[28],"accurate":[29,102],"state":[30,104],"estimations":[31],"can":[32,221],"be":[33,222],"achieved.":[34],"Robustness":[35],"against":[36],"sensor":[37,60],"faults":[38],"is":[39,85,125,144,163,214],"also":[40,164,215],"possible":[41],"because":[42],"redundancy.":[44],"However,":[45],"scale":[46,75,143],"estimation":[47,92,105],"visual":[49,54],"systems":[50],"(visual":[51],"odometry":[52],"or":[53],"odometry,":[56],"VO/VIO)":[57],"suffers":[58],"from":[59,197],"noise":[61],"special-case":[63],"movements":[64],"uniform":[67],"linear":[68],"motion.":[69],"Thus,":[70],"in":[71,108,185],"this":[72],"paper,":[73],"a":[74,157,180,216],"insensitive":[76],"multi-sensor":[77],"fusion":[78,172,218],"(SIMSF)":[79],"framework":[80,88],"based":[81],"on":[82,179],"graph":[83],"optimization":[84],"proposed.":[86],"This":[87],"combines":[89],"local":[91,116],"VO/VIO":[95,120,162],"global":[97,103,123],"to":[99,166,224],"infer":[100],"UAVs":[107],"real":[109],"time.":[110],"A":[111,189],"similarity":[112],"transformation":[113],"between":[114,191],"frame":[117,124],"estimated":[126,145],"by":[127,146],"optimizing":[128],"poses":[130],"most":[133],"recent":[134],"UAV":[135,181],"states.":[136],"In":[137],"particular,":[138],"for":[139,161],"VO,":[140],"an":[141],"initial":[142],"aligning":[147],"VO":[149],"with":[150],"IMU":[152],"GPS":[154],"measurements.":[155],"Moreover,":[156],"fault":[158],"detection":[159],"method":[160],"proposed":[165,175],"enhance":[167],"robustness":[169],"framework.":[173],"The":[174],"methods":[176],"tested":[178],"platform":[182],"evaluated":[184],"several":[186],"challenging":[187],"environments.":[188],"comparison":[190],"our":[192,210],"results":[193,196],"other":[198,225],"state-of-the-art":[199],"algorithms":[200],"demonstrate":[201],"superior":[203],"accuracy,":[204],"robustness,":[205],"real-time":[207],"performance":[208],"system.":[211],"Our":[212],"work":[213],"general":[217],"framework,":[219],"which":[220],"extended":[223],"platforms":[226],"well.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}