{"id":"https://openalex.org/W4391022129","doi":"https://doi.org/10.1109/cdc49753.2023.10384137","title":"Distributed Block Coordinate Moving Horizon Estimation for 2D Visual-Inertial-Odometry SLAM","display_name":"Distributed Block Coordinate Moving Horizon Estimation for 2D Visual-Inertial-Odometry SLAM","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391022129","doi":"https://doi.org/10.1109/cdc49753.2023.10384137"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10384137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10384137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-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/A5037416922","display_name":"\u00c9milien Flayac","orcid":"https://orcid.org/0000-0002-5592-7861"},"institutions":[{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Emilien Flayac","raw_affiliation_strings":["ISAE-Supaero,Department of Complex System Engineering,Toulouse,France","Department of Complex System Engineering, ISAE-Supaero, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"ISAE-Supaero,Department of Complex System Engineering,Toulouse,France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"Department of Complex System Engineering, ISAE-Supaero, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010259253","display_name":"Iman Shames","orcid":"https://orcid.org/0000-0001-7308-3546"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Iman Shames","raw_affiliation_strings":["School of Engineering, The Australian National University,CIICADA Lab,Canberra,Australia","CIICADA Lab, School of Engineering, The Australian National University, Canberra, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The Australian National University,CIICADA Lab,Canberra,Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"CIICADA Lab, School of Engineering, The Australian National University, Canberra, Australia","institution_ids":["https://openalex.org/I118347636"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037416922"],"corresponding_institution_ids":["https://openalex.org/I193033237","https://openalex.org/I4210139096"],"apc_list":null,"apc_paid":null,"fwci":0.4412,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77263293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2178","last_page":"2183"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980999827384949,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962000250816345,"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/observability","display_name":"Observability","score":0.7709906101226807},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7272053956985474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6903048753738403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6762337684631348},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6589522361755371},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6547306776046753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6421883702278137},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6166542768478394},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6036877036094666},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5707666873931885},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5064748525619507},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.505026638507843},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.47516152262687683},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46400728821754456},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4556482434272766},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.43319687247276306},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.42007747292518616},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41945868730545044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40336188673973083},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28919288516044617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20776310563087463}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7709906101226807},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7272053956985474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6903048753738403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6762337684631348},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6589522361755371},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6547306776046753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6421883702278137},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6166542768478394},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6036877036094666},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5707666873931885},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5064748525619507},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.505026638507843},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.47516152262687683},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46400728821754456},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4556482434272766},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.43319687247276306},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.42007747292518616},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41945868730545044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40336188673973083},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28919288516044617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20776310563087463},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10384137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10384137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2140357557","display_name":null,"funder_award_id":"N00014-19-1-2571","funder_id":"https://openalex.org/F4320333591","funder_display_name":"Multidisciplinary University Research Initiative"}],"funders":[{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1979266466","https://openalex.org/W1981699551","https://openalex.org/W2024908906","https://openalex.org/W2038804617","https://openalex.org/W2096052462","https://openalex.org/W2151290401","https://openalex.org/W2336416123","https://openalex.org/W2511205028","https://openalex.org/W2537007072","https://openalex.org/W2538522345","https://openalex.org/W2560100775","https://openalex.org/W2617481561","https://openalex.org/W2621274416","https://openalex.org/W2798513908","https://openalex.org/W2803770871","https://openalex.org/W2891684080","https://openalex.org/W2902926856","https://openalex.org/W2967995940","https://openalex.org/W2980192748","https://openalex.org/W3006503952","https://openalex.org/W3043971245","https://openalex.org/W3046322869","https://openalex.org/W3103125695","https://openalex.org/W3118724743","https://openalex.org/W4241368925","https://openalex.org/W4387704887"],"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/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,44],"Visual":[4],"Inertial":[5],"Odometry":[6],"Landmark-based":[7],"Simultaneous":[8],"Localisation":[9],"and":[10,67,75],"Mapping":[11],"algorithm":[12],"based":[13,42],"on":[14,35,43],"distributed":[16],"block":[17],"coordinate":[18],"nonlinear":[19,95],"Moving":[20],"Horizon":[21],"Estimation":[22],"scheme.":[23],"The":[24,55],"main":[25],"advantage":[26],"of":[27,38,57,71],"the":[28,33,36,39,53,58,79],"proposed":[29],"method":[30,59],"is":[31,60,91],"that":[32,48],"updates":[34],"position":[37],"landmarks":[40],"are":[41],"Bundle":[45],"Adjustment":[46],"technique":[47],"can":[49],"be":[50],"parallelised":[51],"over":[52],"landmarks.":[54],"performance":[56,85],"demonstrated":[61],"in":[62,64,78],"simulations":[63],"different":[65,69],"environments":[66],"with":[68],"types":[70],"robot":[72],"trajectory.":[73],"Circular":[74],"wiggling":[76],"patterns":[77],"trajectory":[80],"lead":[81],"to":[82],"better":[83],"estimation":[84],"than":[86],"straight":[87],"ones,":[88],"confirming":[89],"what":[90],"expected":[92],"from":[93],"recent":[94],"observability":[96],"theory.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}