{"id":"https://openalex.org/W4205539361","doi":"https://doi.org/10.1109/iccais52680.2021.9624624","title":"A Real-time and Robust Image Matching Algorithm Using Inertial Information in Dynamic Environment","display_name":"A Real-time and Robust Image Matching Algorithm Using Inertial Information in Dynamic Environment","publication_year":2021,"publication_date":"2021-10-14","ids":{"openalex":"https://openalex.org/W4205539361","doi":"https://doi.org/10.1109/iccais52680.2021.9624624"},"language":"en","primary_location":{"id":"doi:10.1109/iccais52680.2021.9624624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais52680.2021.9624624","pdf_url":null,"source":{"id":"https://openalex.org/S4363608071","display_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","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/A5100554558","display_name":"Songhui Ma","orcid":"https://orcid.org/0009-0009-1864-4537"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Songhui Ma","raw_affiliation_strings":["Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027763990","display_name":"Mingming Shi","orcid":"https://orcid.org/0000-0003-2578-4473"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingming Shi","raw_affiliation_strings":["Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068125987","display_name":"Chufeng Hu","orcid":"https://orcid.org/0000-0001-8933-1559"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chufeng Hu","raw_affiliation_strings":["Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100554558"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19656262,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":null,"first_page":"375","last_page":"380"},"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":0.9983000159263611,"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":0.9976000189781189,"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/ransac","display_name":"RANSAC","score":0.9314006567001343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7565170526504517},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7361913919448853},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7187648415565491},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6289002895355225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6221907734870911},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5105898976325989},{"id":"https://openalex.org/keywords/delaunay-triangulation","display_name":"Delaunay triangulation","score":0.4827105700969696},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48158955574035645},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4674832224845886},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4560849368572235},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4210909903049469},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.34458041191101074},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2657373547554016},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25432971119880676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2309727966785431},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19501587748527527}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9314006567001343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7565170526504517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7361913919448853},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7187648415565491},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6289002895355225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6221907734870911},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5105898976325989},{"id":"https://openalex.org/C68010082","wikidata":"https://www.wikidata.org/wiki/Q192445","display_name":"Delaunay triangulation","level":2,"score":0.4827105700969696},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48158955574035645},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4674832224845886},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4560849368572235},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4210909903049469},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34458041191101074},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2657373547554016},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25432971119880676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2309727966785431},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19501587748527527},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccais52680.2021.9624624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais52680.2021.9624624","pdf_url":null,"source":{"id":"https://openalex.org/S4363608071","display_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Control, Automation and Information Sciences (ICCAIS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1494466405","https://openalex.org/W1992989752","https://openalex.org/W2063086479","https://openalex.org/W2098860918","https://openalex.org/W2143864104","https://openalex.org/W2151103935","https://openalex.org/W2163819476","https://openalex.org/W2167640051","https://openalex.org/W2168676389","https://openalex.org/W2901806907","https://openalex.org/W3009134939","https://openalex.org/W3014520900","https://openalex.org/W3083706479","https://openalex.org/W6684439383"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4312092966","https://openalex.org/W2951795132","https://openalex.org/W3153542184","https://openalex.org/W2382856674","https://openalex.org/W4386150627"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,14,57,86,118],"tightly":[4,58],"coupled":[5,59],"visual-IMU":[6],"odometry.":[7],"Before":[8],"fusing":[9],"visual":[10],"and":[11,17,32,46],"inertial":[12,26,47],"measurements,":[13],"real":[15,121],"time":[16],"robust":[18,91],"image":[19,35],"matching":[20,36],"algorithm":[21],"which":[22,82,116],"is":[23,28,63,77,83,117],"based":[24],"on":[25],"information":[27,48,81],"proposed.":[29],"Delaunay":[30],"triangulation":[31],"three":[33,74],"consecutive":[34,75],"method":[37,62,97,112],"are":[38,49],"employed":[39],"to":[40,51,65,89],"remove":[41],"sporadic":[42],"outliers.":[43,93],"Also,":[44],"non-maximum-suppression":[45],"used":[50,64,78],"decrease":[52],"feature":[53],"searching":[54],"time.":[55],"Consequently,":[56],"UKF":[60],"fusion":[61],"estimate":[66],"ego-motion.":[67],"The":[68,104],"trifocal":[69],"tensor":[70],"geometry":[71],"relationship":[72],"between":[73],"images":[76],"as":[79],"measurement":[80],"wrapped":[84],"into":[85],"RANSAC":[87],"scheme":[88],"be":[90],"against":[92],"Therefore,":[94],"the":[95,107,110],"proposed":[96,111],"can":[98],"handle":[99],"well":[100],"in":[101,113],"dynamic":[102],"environment.":[103],"experiments":[105],"show":[106],"effectiveness":[108],"of":[109],"KITTI":[114],"data":[115],"publicly":[119],"available":[120],"world":[122],"dataset.":[123]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
