{"id":"https://openalex.org/W2739241698","doi":"https://doi.org/10.1109/icra.2017.7989171","title":"Direct visual-inertial navigation with analytical preintegration","display_name":"Direct visual-inertial navigation with analytical preintegration","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739241698","doi":"https://doi.org/10.1109/icra.2017.7989171","mag":"2739241698"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5041069558","display_name":"Kevin Eckenhoff","orcid":"https://orcid.org/0000-0001-6985-3210"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Eckenhoff","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055849494","display_name":"Patrick Geneva","orcid":"https://orcid.org/0000-0002-2179-3447"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Geneva","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":58.7145,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99642926,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49133482575416565},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.47344255447387695},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4734375476837158},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36829277873039246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36720138788223267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15716540813446045},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07686266303062439}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49133482575416565},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.47344255447387695},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4734375476837158},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36829277873039246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36720138788223267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15716540813446045},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07686266303062439}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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":29,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W116077224","https://openalex.org/W612478963","https://openalex.org/W1498041548","https://openalex.org/W1968315983","https://openalex.org/W1981699551","https://openalex.org/W2033923716","https://openalex.org/W2091790851","https://openalex.org/W2104849520","https://openalex.org/W2106065105","https://openalex.org/W2118223742","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2154381549","https://openalex.org/W2182229738","https://openalex.org/W2214788824","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2411649036","https://openalex.org/W2413423825","https://openalex.org/W2419416064","https://openalex.org/W2565651782","https://openalex.org/W3021865145","https://openalex.org/W6604766751","https://openalex.org/W6618872416","https://openalex.org/W6685664056","https://openalex.org/W6704461802","https://openalex.org/W6776988302"],"related_works":["https://openalex.org/W2889530985","https://openalex.org/W2254998421","https://openalex.org/W2287893467","https://openalex.org/W2411412724","https://openalex.org/W4248398246","https://openalex.org/W2117574123","https://openalex.org/W2565829216","https://openalex.org/W2333544554","https://openalex.org/W4312397549","https://openalex.org/W3006502707"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2],"the":[3,31,55],"performance":[4],"and":[5,9,73],"affordability":[6],"of":[7,33,42,54,61,70],"cameras":[8],"inertial":[10,35],"measurement":[11],"units":[12],"(IMUs)":[13],"have":[14],"caused":[15],"demand":[16],"for":[17,30,66],"efficient,":[18],"accurate":[19,68],"visual-inertial":[20],"navigation":[21],"solutions.":[22],"In":[23,44],"this":[24],"paper,":[25],"we":[26],"present":[27],"a":[28,98],"system":[29,103],"fusion":[32],"preintegrated":[34,71],"measurements":[36,72,82],"with":[37,88],"highly":[38],"informative":[39],"direct":[40,94],"alignment":[41,96],"images.":[43],"particular,":[45],"our":[46],"preintegration":[47],"theory":[48],"is":[49,104],"based":[50],"on":[51,106],"closed-form":[52],"solutions":[53],"continuous-time":[56],"IMU":[57],"kinematic":[58],"model,":[59],"instead":[60],"discrete":[62],"time.":[63],"This":[64],"allows":[65],"more":[67],"computation":[69],"their":[74],"uncertainty":[75],"as":[76,78],"well":[77],"bias":[79],"Jacobians.":[80],"These":[81],"are":[83],"fused":[84],"via":[85],"graph-based":[86],"methods":[87],"relative":[89],"pose":[90],"constraints":[91],"obtained":[92],"from":[93,97],"image":[95],"stereo":[99],"platform.":[100],"The":[101],"proposed":[102],"validated":[105],"publicly-available":[107],"real-world":[108],"datasets.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}