{"id":"https://openalex.org/W3048240398","doi":"https://doi.org/10.1109/aim43001.2020.9159006","title":"Visual-inertial odometry system with simultaneous extrinsic parameters optimization","display_name":"Visual-inertial odometry system with simultaneous extrinsic parameters optimization","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048240398","doi":"https://doi.org/10.1109/aim43001.2020.9159006","mag":"3048240398"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9159006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9159006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5043873025","display_name":"Xitian Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xitian Gao","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101952719","display_name":"Baoquan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoquan Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066913530","display_name":"Wuxi Shi","orcid":"https://orcid.org/0000-0002-8303-2758"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wuxi Shi","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753393","display_name":"Fanlei Yan","orcid":"https://orcid.org/0000-0002-1087-1040"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanlei Yan","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1977","last_page":"1982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9993000030517578,"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":0.9961000084877014,"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/odometry","display_name":"Odometry","score":0.7498612999916077},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6777867078781128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638279914855957},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6225032210350037},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5016272068023682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45891886949539185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.144467294216156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1284681260585785},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1076638400554657}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7498612999916077},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6777867078781128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638279914855957},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6225032210350037},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5016272068023682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45891886949539185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.144467294216156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1284681260585785},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1076638400554657},{"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:10.1109/aim43001.2020.9159006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9159006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1498041548","https://openalex.org/W1521470386","https://openalex.org/W1979266466","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2109635530","https://openalex.org/W2118223742","https://openalex.org/W2147536420","https://openalex.org/W2314596443","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2400621881","https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2563286913","https://openalex.org/W2590327367","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2797395780","https://openalex.org/W2890376682","https://openalex.org/W2968489055","https://openalex.org/W3098486636","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W4243110387","https://openalex.org/W6730828980"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"For":[0],"visual-inertial":[1,31,60,70],"odometry":[2],"in":[3,69,104,111],"a":[4],"robotic":[5],"system,":[6,32],"the":[7,10,29,39,42,63,74,93,105,112,118],"performance":[8,116],"of":[9,117],"resultant":[11],"localization":[12],"can":[13,34],"be":[14],"improved":[15],"with":[16,88],"effective":[17],"initialization.":[18],"In":[19],"this":[20],"paper,":[21],"an":[22],"initialization":[23,91,106],"pattern":[24],"is":[25,76,96,101,109,121],"proposed":[26,119],"based":[27],"on":[28],"monocular":[30],"which":[33],"optimize":[35],"extrinsic":[36,65],"parameters":[37,66],"between":[38],"camera":[40],"and":[41,54,73,108],"inertial":[43],"measurement":[44],"unit":[45],"simultaneously.":[46],"Firstly,":[47],"rotation":[48,94],"extrinsic,":[49],"gyroscope":[50],"bias,":[51],"metric":[52],"scale,":[53],"gravity":[55],"vector":[56],"are":[57,67],"estimated":[58,103],"by":[59,123],"information.":[61],"Then,":[62],"translation":[64],"optimized":[68],"alignment":[71],"stage":[72,107],"velocity":[75],"calculated":[77],"via":[78],"previous":[79],"state":[80],"estimation.":[81],"Since":[82],"accelerometer":[83],"bias":[84],"has":[85],"little":[86],"effect":[87],"respect":[89],"to":[90],"when":[92],"angle":[95],"not":[97,102],"large":[98],"enough,":[99],"it":[100],"handled":[110],"following":[113],"stages.":[114],"The":[115],"method":[120],"validated":[122],"comparative":[124],"experimental":[125],"results.":[126]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
