{"id":"https://openalex.org/W4281741536","doi":"https://doi.org/10.1109/icarsc55462.2022.9784783","title":"Sensors Calibration and Filter Initialization in Visual Inertial Odometry","display_name":"Sensors Calibration and Filter Initialization in Visual Inertial Odometry","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4281741536","doi":"https://doi.org/10.1109/icarsc55462.2022.9784783"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc55462.2022.9784783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784783","pdf_url":null,"source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5086126789","display_name":"Andre Pereira Nogueira","orcid":null},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Andre Pereira Nogueira","raw_affiliation_strings":["Instituto Superior T&#x00E9;cnico, University of Lisbon,Institute for Systems and Robotics, LARSyS","cnico, University of Lisbon"],"affiliations":[{"raw_affiliation_string":"Instituto Superior T&#x00E9;cnico, University of Lisbon,Institute for Systems and Robotics, LARSyS","institution_ids":[]},{"raw_affiliation_string":"cnico, University of Lisbon","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091765649","display_name":"Jos\u00e9 Gaspar","orcid":"https://orcid.org/0000-0002-9502-2151"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Antonio Gaspar","raw_affiliation_strings":["Instituto Superior T&#x00E9;cnico, University of Lisbon,Institute for Systems and Robotics, LARSyS","cnico, University of Lisbon"],"affiliations":[{"raw_affiliation_string":"Instituto Superior T&#x00E9;cnico, University of Lisbon,Institute for Systems and Robotics, LARSyS","institution_ids":[]},{"raw_affiliation_string":"cnico, University of Lisbon","institution_ids":["https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086126789"],"corresponding_institution_ids":["https://openalex.org/I141596103"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0195549,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"85","last_page":"90"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976999759674072,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8719242215156555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8074675798416138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7543875575065613},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.729997456073761},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.715306282043457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7016693353652954},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5369996428489685},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.528296947479248},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4647623300552368},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4477637708187103},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.42868131399154663},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.41430145502090454},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.2913219928741455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.255433589220047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1889185905456543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17192146182060242}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8719242215156555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8074675798416138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7543875575065613},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.729997456073761},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.715306282043457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7016693353652954},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5369996428489685},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.528296947479248},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4647623300552368},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4477637708187103},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.42868131399154663},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.41430145502090454},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2913219928741455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.255433589220047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1889185905456543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17192146182060242},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc55462.2022.9784783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784783","pdf_url":null,"source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W4389665464","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513"],"abstract_inverted_index":{"Visual":[0],"inertial":[1,22,89],"odometry":[2],"(VIO)":[3],"is":[4,13,78,91],"an":[5,96],"enabling":[6],"technology":[7],"for":[8,104,112],"mobile":[9],"home":[10],"robots":[11],"which":[12],"possible":[14],"nowadays":[15],"due":[16],"to":[17],"novel":[18],"low-cost":[19],"cameras":[20],"and":[21,33,76,88,128,161,185,190],"measurement":[23],"units":[24],"(IMUs).":[25],"This":[26],"work":[27],"analyzes":[28],"how":[29],"the":[30,38,48,53,60,68,71,118,123,131,136,140,144,168,171,177,181,193],"system-hardware":[31],"calibration":[32,66],"system-state":[34],"initialization,":[35],"followed":[36],"by":[37,93],"dynamical":[39],"propagation":[40],"of":[41,62,67,95,133,147,170,188],"IMU":[42,77,120,148,182,197],"readings,":[43,149],"involving":[44],"intrinsic":[45],"bias,":[46],"influence":[47],"VIO.":[49],"Then":[50],"we":[51],"analyze":[52],"synergies":[54,175],"between":[55,74,176],"these":[56],"two":[57,178],"sensors":[58,159],"in":[59,139,153],"context":[61],"pose":[63],"estimation.":[64],"The":[65,86],"system,":[69],"namely":[70],"rigid":[72],"transformation":[73],"camera":[75],"performed":[79],"with":[80,100,122,143],"a":[81,109],"free,":[82],"public":[83],"domain,":[84],"tool.":[85],"visual":[87,125,194],"data":[90],"processed":[92],"means":[94],"Unscented":[97],"Kalman":[98],"Filter":[99],"Lie":[101],"group":[102],"embedding":[103],"state":[105,110],"representation.":[106],"We":[107],"propose":[108],"initialization":[111],"this":[113],"filter":[114,162,173],"that":[115,167],"enables":[116],"matching":[117,135],"integrated":[119],"readings":[121],"tracked":[124],"features.":[126],"Experiments":[127],"results":[129],"show":[130,165],"importance":[132],"successfully":[134],"feature":[137],"tracks":[138],"first":[141],"images":[142],"starting":[145],"integration":[146],"as":[150],"significant":[151],"errors":[152],"initial":[154],"bias":[155,198],"estimations":[156,187],"may":[157],"preclude":[158],"fusion":[160,172],"convergence.":[163],"Results":[164],"also":[166],"operation":[169],"allows":[174],"sensors,":[179],"while":[180],"provides":[183,196],"instantaneous":[184],"reliable":[186],"translation":[189],"rotation":[191],"speeds,":[192],"component":[195],"correction.":[199]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
