{"id":"https://openalex.org/W2919409595","doi":"https://doi.org/10.1109/icra.2019.8793927","title":"Keyframe-based Direct Thermal\u2013Inertial Odometry","display_name":"Keyframe-based Direct Thermal\u2013Inertial Odometry","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2919409595","doi":"https://doi.org/10.1109/icra.2019.8793927","mag":"2919409595"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.00798","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076595826","display_name":"Shehryar Khattak","orcid":"https://orcid.org/0000-0002-9304-1455"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shehryar Khattak","raw_affiliation_strings":["Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072641170","display_name":"Christos Papachristos","orcid":"https://orcid.org/0000-0001-6452-6405"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos Papachristos","raw_affiliation_strings":["Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno, 1664 N. Virginia, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134113660"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3563","last_page":"3569"},"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":0.9994999766349792,"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":0.9908999800682068,"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/odometry","display_name":"Odometry","score":0.8599953651428223},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7204848527908325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.646192729473114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6367897391319275},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5797150135040283},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5315746068954468},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5238447189331055},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5230599045753479},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5193601846694946},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49030807614326477},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4614473879337311},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3480469882488251},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3466724157333374},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1308746337890625}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8599953651428223},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7204848527908325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.646192729473114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6367897391319275},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5797150135040283},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5315746068954468},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5238447189331055},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5230599045753479},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5193601846694946},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49030807614326477},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4614473879337311},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3480469882488251},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3466724157333374},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1308746337890625},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.00798","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00798","pdf_url":"https://arxiv.org/pdf/1903.00798","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.00798","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00798","pdf_url":"https://arxiv.org/pdf/1903.00798","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W44782581","https://openalex.org/W612478963","https://openalex.org/W1530110590","https://openalex.org/W1544385957","https://openalex.org/W2035455072","https://openalex.org/W2091790851","https://openalex.org/W2093659073","https://openalex.org/W2108134361","https://openalex.org/W2138943513","https://openalex.org/W2141584146","https://openalex.org/W2474281075","https://openalex.org/W2518043645","https://openalex.org/W2552165419","https://openalex.org/W2560225562","https://openalex.org/W2588727045","https://openalex.org/W2736527903","https://openalex.org/W2739036405","https://openalex.org/W2744253785","https://openalex.org/W2754177129","https://openalex.org/W2769097509","https://openalex.org/W2811042418","https://openalex.org/W2879404536","https://openalex.org/W2891766795","https://openalex.org/W2899761469","https://openalex.org/W2899891341","https://openalex.org/W3090517880","https://openalex.org/W3104312221","https://openalex.org/W3106129785","https://openalex.org/W4251255891","https://openalex.org/W6618872416"],"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/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,80,88],"approach":[4,54],"for":[5,25],"fusing":[6],"direct":[7],"radiometric":[8],"data":[9],"from":[10],"a":[11],"thermal":[12],"camera":[13],"with":[14],"inertial":[15,67],"measurements":[16],"to":[17],"extend":[18],"the":[19,34,40,60],"robotic":[20],"capabilities":[21],"of":[22,36,42,63],"aerial":[23],"robots":[24],"navigation":[26],"in":[27,33,39,79],"GPS-denied":[28],"and":[29,38,49,66],"visually":[30,93],"degraded":[31,94],"environments":[32],"conditions":[35],"darkness":[37],"presence":[41],"airborne":[43],"obscurants":[44],"such":[45],"as":[46,84,86],"dust,":[47],"fog":[48],"smoke.":[50],"An":[51],"optimization":[52],"based":[53],"is":[55,73],"developed":[56,71],"that":[57],"jointly":[58],"minimizes":[59],"re-projection":[61],"error":[62],"3D":[64],"landmarks":[65],"measurement":[68],"errors.":[69],"The":[70],"solution":[72],"extensively":[74],"verified":[75],"against":[76],"both":[77],"ground-truth":[78],"indoor":[81],"laboratory":[82],"setting,":[83],"well":[85],"inside":[87],"underground":[89],"mine":[90],"under":[91],"severely":[92],"conditions.":[95]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":11}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}