{"id":"https://openalex.org/W3012035441","doi":"https://doi.org/10.1109/cdc40024.2019.9029283","title":"Magneto-visual-inertial Dead-reckoning: Improving Estimation Consistency by Invariance","display_name":"Magneto-visual-inertial Dead-reckoning: Improving Estimation Consistency by Invariance","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3012035441","doi":"https://doi.org/10.1109/cdc40024.2019.9029283","mag":"3012035441"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02502615","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024943888","display_name":"David R. Caruso","orcid":"https://orcid.org/0000-0001-7481-9199"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210112331","display_name":"Sysnav (France)","ror":"https://ror.org/02191ha15","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210112331"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Caruso","raw_affiliation_strings":["Sysnav, Vernon, France","SYSNAV (57, rue de Montigny\r\n27200 Vernon - France)","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sysnav, Vernon, France","institution_ids":["https://openalex.org/I4210112331"]},{"raw_affiliation_string":"SYSNAV (57, rue de Montigny\r\n27200 Vernon - France)","institution_ids":["https://openalex.org/I4210112331"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028716990","display_name":"Alexandre Eudes","orcid":"https://orcid.org/0000-0002-3370-5950"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Eudes","raw_affiliation_strings":["DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007538169","display_name":"Martial Sanfourche","orcid":"https://orcid.org/0000-0001-6907-5893"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Martial Sanfourche","raw_affiliation_strings":["DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046882797","display_name":"David Vissi\u00e8re","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112331","display_name":"Sysnav (France)","ror":"https://ror.org/02191ha15","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210112331"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Vissiere","raw_affiliation_strings":["Sysnav, Vernon, France","SYSNAV (57, rue de Montigny\r\n27200 Vernon - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sysnav, Vernon, France","institution_ids":["https://openalex.org/I4210112331"]},{"raw_affiliation_string":"SYSNAV (57, rue de Montigny\r\n27200 Vernon - France)","institution_ids":["https://openalex.org/I4210112331"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045836733","display_name":"Guy Le Besnerais","orcid":"https://orcid.org/0000-0003-4922-8017"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guy Le Besnerais","raw_affiliation_strings":["DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay (COmUE) [Palaiseau] (F-91123 Palaiseau - France)","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6804,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9593572,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"62","issue":null,"first_page":"7923","last_page":"7930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9975000023841858,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8999731540679932},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6464052796363831},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6188978552818298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6121704578399658},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6019265651702881},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5769535899162292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5503166317939758},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.49416354298591614},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.48212385177612305},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.47414630651474},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.4730992317199707},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4721272885799408},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4598124921321869},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4180499315261841},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37324604392051697},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3063647150993347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18604061007499695},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.11515891551971436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1148521900177002},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08340892195701599}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8999731540679932},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6464052796363831},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6188978552818298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6121704578399658},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6019265651702881},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5769535899162292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5503166317939758},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.49416354298591614},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.48212385177612305},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.47414630651474},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.4730992317199707},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4721272885799408},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4598124921321869},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4180499315261841},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37324604392051697},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3063647150993347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18604061007499695},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.11515891551971436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1148521900177002},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08340892195701599},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02502615v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02502615","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE CDC 2019, Dec 2019, NICE, France. pp.7923-7930, ⟨10.1109/CDC40024.2019.9029283⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02502615v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02502615","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE CDC 2019, Dec 2019, NICE, France. pp.7923-7930, ⟨10.1109/CDC40024.2019.9029283⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W116077224","https://openalex.org/W1570939900","https://openalex.org/W1943808550","https://openalex.org/W1968315983","https://openalex.org/W1968917201","https://openalex.org/W2027055074","https://openalex.org/W2056298239","https://openalex.org/W2072986918","https://openalex.org/W2118223742","https://openalex.org/W2143988270","https://openalex.org/W2155562184","https://openalex.org/W2158090912","https://openalex.org/W2215394929","https://openalex.org/W2279625569","https://openalex.org/W2396359319","https://openalex.org/W2474281075","https://openalex.org/W2592781794","https://openalex.org/W2727085722","https://openalex.org/W2758962329","https://openalex.org/W2769785076","https://openalex.org/W2771629423","https://openalex.org/W2773391874","https://openalex.org/W2777723974","https://openalex.org/W2804892083","https://openalex.org/W2946305058","https://openalex.org/W3102386196","https://openalex.org/W4206852364","https://openalex.org/W6677871018","https://openalex.org/W6695250641","https://openalex.org/W6744495485","https://openalex.org/W6746160652","https://openalex.org/W6763378357","https://openalex.org/W6764645707","https://openalex.org/W6806250757"],"related_works":["https://openalex.org/W2387696481","https://openalex.org/W2331134302","https://openalex.org/W1572218428","https://openalex.org/W4385894109","https://openalex.org/W4389665464","https://openalex.org/W2062158686","https://openalex.org/W2105467265","https://openalex.org/W2388366184","https://openalex.org/W2098659692","https://openalex.org/W2141674674"],"abstract_inverted_index":{"Tractable":[0],"algorithms":[1],"used":[2],"for":[3,62,107,198],"6DOF":[4],"visual-inertial":[5,73,200],"odometry":[6,103,106],"have":[7,56],"decades-long":[8],"history":[9],"of":[10,34,47,65,78,101,110,140,146,165,173,182],"estimation":[11,191],"consistency":[12,39,77,115],"issues.":[13],"Those":[14],"arise":[15],"in":[16,18,171],"particular":[17],"two":[19],"well-studied":[20],"filters:":[21],"namely":[22],"the":[23,32,45,63,98,108,138,147,152,166,183],"EKF-SLAM":[24],"and":[25,104,126,143,185],"MSCKF.":[26],"Recently,":[27],"strong":[28],"theoretical":[29],"works":[30],"linked":[31],"error-state":[33],"these":[35,41],"filters":[36,82],"with":[37,68,113,163],"their":[38],"properties;":[40],"results":[42,139],"led":[43],"to":[44,97],"synthesis":[46,109],"far":[48],"more":[49],"consistent":[50,162],"filters.":[51],"In":[52],"previous":[53],"works,":[54],"we":[55,149],"shown":[57],"that":[58,151,160],"using":[59],"similar":[60],"filter":[61,112,184],"fusion":[64],"magneto-inertial":[66,102],"sensors":[67],"optical":[69],"ones":[70],"improved":[71],"classical":[72],"navigation":[74,202],"systems.":[75,203],"The":[76],"those":[79],"novel":[80],"magneto-visual-inertial":[81,105],"were,":[83],"however,":[84],"not":[85],"addressed":[86],"until":[87],"now.":[88],"This":[89],"work":[90],"does.":[91],"We":[92,117,193],"apply":[93],"invariance":[94],"theory":[95],"findings":[96],"specific":[99],"case":[100,172],"a":[111,188],"interesting":[114],"properties.":[116],"describe":[118],"thoroughly":[119],"such":[120],"an":[121,157],"invariant":[122,144,153],"filter,":[123,148],"implement":[124],"it":[125],"conduct":[127],"experiments":[128],"on":[129,195],"carefully":[130],"captured":[131],"data":[132],"from":[133],"real":[134],"sensor.":[135],"By":[136],"comparing":[137],"non-invariant,":[141],"observability-constrained":[142],"versions":[145],"find":[150],"version":[154],"(i)":[155],"shows":[156],"error":[158],"estimate":[159],"is":[161,169],"observability":[164],"system,":[167],"(ii)":[168],"applicable":[170],"unknown":[174],"heading":[175],"at":[176],"initialization,":[177],"(iii)":[178],"improves":[179],"long-term":[180],"behavior":[181],"(iv)":[186],"exhibits":[187],"lower":[189],"normalized":[190],"error.":[192],"experiment":[194],"challenging":[196],"scenarios":[197],"regular":[199],"pedestrian":[201]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}