{"id":"https://openalex.org/W2890376682","doi":"https://doi.org/10.1109/icra.2018.8460206","title":"Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM","display_name":"Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890376682","doi":"https://doi.org/10.1109/icra.2018.8460206","mag":"2890376682"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460206","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5036081371","display_name":"Weibo Huang","orcid":"https://orcid.org/0000-0002-9583-1944"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Weibo Huang","raw_affiliation_strings":["Key Laboratory of Machine Perception, Shenzhen Graduate School"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception, Shenzhen Graduate School","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410326","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-7498-6541"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Key Laboratory of Machine Perception, Shenzhen Graduate School"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception, Shenzhen Graduate School","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036081371"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.4203,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.98622566,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5182","last_page":"5189"},"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":0.9976000189781189,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9934999942779541,"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/initialization","display_name":"Initialization","score":0.9119086861610413},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.8345911502838135},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7462946772575378},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7244995832443237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6770635843276978},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6170773506164551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5704848766326904},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5609670281410217},{"id":"https://openalex.org/keywords/scale-factor","display_name":"Scale factor (cosmology)","score":0.5440394878387451},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.49980998039245605},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.48665910959243774},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4432005286216736},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4124016761779785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21420493721961975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10660827159881592},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10572117567062378}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9119086861610413},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.8345911502838135},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7462946772575378},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7244995832443237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6770635843276978},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6170773506164551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5704848766326904},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5609670281410217},{"id":"https://openalex.org/C144386022","wikidata":"https://www.wikidata.org/wiki/Q1332997","display_name":"Scale factor (cosmology)","level":5,"score":0.5440394878387451},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.49980998039245605},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.48665910959243774},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4432005286216736},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4124016761779785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21420493721961975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10660827159881592},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10572117567062378},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C20154449","wikidata":"https://www.wikidata.org/wiki/Q1129469","display_name":"Metric expansion of space","level":4,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C172790937","wikidata":"https://www.wikidata.org/wiki/Q18343","display_name":"Dark energy","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460206","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1969726450","https://openalex.org/W1974678436","https://openalex.org/W1981699551","https://openalex.org/W1996213997","https://openalex.org/W1998058414","https://openalex.org/W2025572378","https://openalex.org/W2091790851","https://openalex.org/W2114084853","https://openalex.org/W2132453268","https://openalex.org/W2147536420","https://openalex.org/W2153054365","https://openalex.org/W2167896722","https://openalex.org/W2206962248","https://openalex.org/W2214788824","https://openalex.org/W2314596443","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2411412724","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2589138733","https://openalex.org/W2590327367","https://openalex.org/W2732510496","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W6649571876","https://openalex.org/W6649757885","https://openalex.org/W6656651781","https://openalex.org/W6688041977","https://openalex.org/W6688379175","https://openalex.org/W6733816241","https://openalex.org/W6740778104"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W4287084017","https://openalex.org/W3195533899","https://openalex.org/W3179745820","https://openalex.org/W3208523813","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062","https://openalex.org/W4238176532"],"abstract_inverted_index":{"Most":[0],"of":[1,24,30,62,95,130],"the":[2,10,21,35,47,59,63,81,85,90,118,123,127,142,146,150,162,177,181,200],"existing":[3],"monocular":[4],"visual-inertial":[5],"SLAM":[6],"techniques":[7],"assume":[8],"that":[9,192],"camera-IMU":[11],"extrinsic":[12,48,86,147,155],"parameters":[13,87],"are":[14,99,157,168,184],"known,":[15],"therefore":[16],"these":[17,166],"methods":[18],"merely":[19],"estimate":[20,80,141],"initial":[22,82],"values":[23,83,167],"velocity,":[25],"visual":[26],"scale,":[27],"gravity,":[28,153],"biases":[29,94],"gyroscope":[31,96,143],"and":[32,50,84,97,104,111,120,145,154,180],"accelerometer":[33,98,163,178],"in":[34,101,175],"initialization":[36,76,124],"stage.":[37],"However,":[38],"it's":[39],"usually":[40],"a":[41,105,172],"professional":[42],"work":[43,57],"to":[44,54,78,116,121,139],"carefully":[45],"calibrate":[46],"parameters,":[49],"it":[51],"is":[52,114,136],"required":[53],"repeat":[55],"this":[56,70],"once":[58],"mechanical":[60,91],"configuration":[61],"sensor":[64],"suite":[65],"changes":[66],"slightly.":[67],"To":[68],"tackle":[69],"problem,":[71],"we":[72],"propose":[73],"an":[74,133],"online":[75],"method":[77,194],"automatically":[79],"without":[88,160],"knowing":[89],"configuration.":[92],"The":[93],"considered":[100],"our":[102,131,193],"method,":[103,132],"convergence":[106,119],"criteria":[107],"for":[108],"both":[109],"orientation":[110],"translation":[112,156],"calibration":[113],"introduced":[115,138],"identify":[117],"terminate":[122],"procedure.":[125],"In":[126],"three":[128],"processes":[129],"iterative":[134],"strategy":[135],"firstly":[137],"iteratively":[140],"bias":[144,179],"orientation.":[148],"Secondly,":[149],"scale":[151],"factor,":[152],"approximately":[158],"estimated":[159],"considering":[161],"bias.":[164],"Finally,":[165],"further":[169],"optimized":[170],"by":[171],"refinement":[173],"algorithm":[174],"which":[176],"gravitational":[182],"magnitude":[183],"taken":[185],"into":[186],"account.":[187],"Extensive":[188],"experimental":[189],"results":[190],"show":[191],"achieves":[195],"competitive":[196],"accuracy":[197],"compared":[198],"with":[199,202],"state-of-the-art":[201],"less":[203],"calculation.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":6}],"updated_date":"2026-02-25T23:00:34.991745","created_date":"2025-10-10T00:00:00"}