{"id":"https://openalex.org/W2964025948","doi":"https://doi.org/10.1109/icra.2018.8460780","title":"Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM","display_name":"Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2964025948","doi":"https://doi.org/10.1109/icra.2018.8460780","mag":"2964025948"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460780","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":"preprint","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/A5082261032","display_name":"Tong Qin","orcid":"https://orcid.org/0000-0002-0994-9816"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tong Qin","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016925825","display_name":"Peiliang Li","orcid":"https://orcid.org/0000-0001-5839-8777"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peiliang Li","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":61.7963,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.99756032,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1197","last_page":"1204"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9927999973297119,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7781543731689453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7643961310386658},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7335038185119629},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6915445327758789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6539973020553589},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5311419367790222},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4873817563056946},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.4813478887081146},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.47467684745788574},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46826058626174927},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.46198898553848267},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4349032938480377},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4315703809261322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29708266258239746},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11874070763587952},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09354808926582336}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7781543731689453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7643961310386658},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7335038185119629},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6915445327758789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6539973020553589},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5311419367790222},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4873817563056946},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.4813478887081146},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.47467684745788574},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46826058626174927},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.46198898553848267},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4349032938480377},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4315703809261322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29708266258239746},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11874070763587952},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09354808926582336},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460780","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"},{"id":"pmh:oai:repository.ust.hk:1783.1-93052","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=2577-087X&rft.volume=&rft.issue=&rft.date=2018&rft.spage=1197&rft.aulast=Qin&rft.aufirst=Tong%7C&rft.atitle=Relocalization%2C%20Global%20Optimization%20and%20Map%20Merging%20for%20Monocular%20Visual-Inertial%20SLAM&rft.title=2018%20IEEE%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491719799","https://openalex.org/W1498041548","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W1992989752","https://openalex.org/W2021851106","https://openalex.org/W2046033161","https://openalex.org/W2049750053","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2127752689","https://openalex.org/W2141584146","https://openalex.org/W2200124539","https://openalex.org/W2214613866","https://openalex.org/W2274359774","https://openalex.org/W2278591674","https://openalex.org/W2342437324","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2538522345","https://openalex.org/W2580172780","https://openalex.org/W2586572282","https://openalex.org/W2736926039","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W6629734535","https://openalex.org/W6642822174","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6681435098","https://openalex.org/W6694302875","https://openalex.org/W6695045838","https://openalex.org/W6721610202","https://openalex.org/W6741065269","https://openalex.org/W6746710279"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697"],"abstract_inverted_index":{"The":[0,92,174],"monocular":[1,61],"visual-inertial":[2,30,62,109],"system":[3,114,149,168],"(VINS),":[4],"which":[5,65,101],"consists":[6],"one":[7,10],"camera":[8,68],"and":[9,36,47,69,88,98,121,130,153],"low-cost":[11],"inertial":[12],"measurement":[13],"unit":[14],"(IMU),":[15],"is":[16,32,83,102,180],"a":[17,52,60,75,117],"popular":[18],"approach":[19],"to":[20,34,45,85],"achieve":[21,89],"accurate":[22,29],"6-DOF":[23],"state":[24],"estimation.":[25,41],"However,":[26],"such":[27],"locally":[28],"odometry":[31],"prone":[33],"drift":[35,49],"cannot":[37],"provide":[38],"absolute":[39,72],"pose":[40,73,80,140],"Leveraging":[42],"history":[43],"information":[44],"relocalize":[46,67],"correct":[48,86],"has":[50],"become":[51],"hot":[53],"topic.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58],"propose":[59],"SLAM":[63],"system,":[64],"can":[66,115,133],"get":[70],"the":[71,103,108,112,138,145,162,170],"in":[74,107,124,169],"previous-built":[76],"map.":[77],"Then":[78],"4-DOF":[79,93],"graph":[81,141],"optimization":[82],"performed":[84],"drifts":[87],"global":[90,139],"consistent.":[91],"contains":[94],"x,":[95],"y,":[96],"z,":[97],"yaw":[99],"angle,":[100],"actual":[104],"drifted":[105],"direction":[106],"system.":[110],"Furthermore,":[111],"proposed":[113],"reuse":[116,179],"map":[118,129,132,163,178],"by":[119,137],"saving":[120],"loading":[122],"it":[123],"an":[125],"efficient":[126],"way.":[127],"Current":[128],"previous":[131],"be":[134],"merged":[135],"together":[136],"optimization.":[142],"We":[143,159],"validate":[144],"accuracy":[146],"of":[147,166,177],"our":[148,167,183],"on":[150],"public":[151,184],"datasets":[152],"compare":[154],"against":[155],"other":[156],"state-of-the-art":[157],"algorithms.":[158],"also":[160],"evaluate":[161],"merging":[164],"ability":[165],"large-scale":[171],"outdoor":[172],"environment.":[173],"source":[175],"code":[176],"integrated":[181],"into":[182],"code,":[185],"VINS-Monol":[186],"<sup":[187],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[188],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">11</sup>":[189],"https://github.com/HKUST-Aerial-Robotics/VINS-Mono.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}