{"id":"https://openalex.org/W3089624309","doi":"https://doi.org/10.1109/icra40945.2020.9197352","title":"Schmidt-EKF-based Visual-Inertial Moving Object Tracking","display_name":"Schmidt-EKF-based Visual-Inertial Moving Object Tracking","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089624309","doi":"https://doi.org/10.1109/icra40945.2020.9197352","mag":"3089624309"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":true,"raw_author_name":"Kevin Eckenhoff","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), 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":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032997033","display_name":"Nathaniel Merrill","orcid":"https://orcid.org/0000-0002-0579-7835"},"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":"Nathaniel Merrill","raw_affiliation_strings":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), 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":["Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Robot Perception and Navigation Group (RPNG), University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041069558"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":3.4516,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9195727,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"651","last_page":"657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"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/computer-vision","display_name":"Computer vision","score":0.7562415599822998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7527976036071777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7166452407836914},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6074402928352356},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5612894892692566},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5409054160118103},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.47627919912338257},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4363344609737396},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.41860315203666687},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41299664974212646}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7562415599822998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7527976036071777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7166452407836914},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6074402928352356},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5612894892692566},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5409054160118103},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.47627919912338257},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4363344609737396},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.41860315203666687},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41299664974212646},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W7580561","https://openalex.org/W166817922","https://openalex.org/W1901129140","https://openalex.org/W1968917201","https://openalex.org/W1990779843","https://openalex.org/W1994114209","https://openalex.org/W2047328415","https://openalex.org/W2074394783","https://openalex.org/W2091790851","https://openalex.org/W2102344727","https://openalex.org/W2103632679","https://openalex.org/W2110794641","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2170282673","https://openalex.org/W2170764835","https://openalex.org/W2272130679","https://openalex.org/W2274359774","https://openalex.org/W2476548250","https://openalex.org/W2482726005","https://openalex.org/W2626592122","https://openalex.org/W2745859992","https://openalex.org/W2803369337","https://openalex.org/W2811184430","https://openalex.org/W2913685494","https://openalex.org/W2944462671","https://openalex.org/W2963037989","https://openalex.org/W2963285578","https://openalex.org/W2963562098","https://openalex.org/W2963876114","https://openalex.org/W2968489055","https://openalex.org/W2968784647","https://openalex.org/W2980788490","https://openalex.org/W3125449081","https://openalex.org/W3210232381","https://openalex.org/W6606801450","https://openalex.org/W6639824700","https://openalex.org/W6677548441","https://openalex.org/W6685562342","https://openalex.org/W6752460770","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W2020144404","https://openalex.org/W4372347353","https://openalex.org/W2149615975","https://openalex.org/W2229640938","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"In":[0,21],"this":[1,150],"paper":[2],"we":[3,23,83],"investigate":[4],"the":[5,11,41,52,67,76,90,101,118,122,129,158,167,176],"effect":[6],"of":[7,13,75,117,157,169],"tightly-coupled":[8],"estimation":[9,29,163],"on":[10,89],"performance":[12,164],"visual-inertial":[14],"localization":[15,190],"and":[16,121,184,191],"dynamic":[17],"object":[18,192],"pose":[19,193],"tracking.":[20],"particular,":[22],"show":[24,145],"that":[25,149],"while":[26],"a":[27,37,60,71,85,154,181],"joint":[28],"system":[30,87,177],"outperforms":[31],"its":[32],"decoupled":[33],"counterpart":[34],"when":[35],"given":[36],"\"proper\"":[38],"model":[39,79],"for":[40,51,113],"target's":[42,53,77],"motion,":[43],"inconsistent":[44,171],"modeling,":[45],"such":[46,135],"as":[47,136],"choosing":[48],"improper":[49],"levels":[50],"propagation":[54],"noises,":[55],"can":[56],"actually":[57],"lead":[58],"to":[59,124,139,161,187],"degradation":[61],"in":[62,94,146,166,180],"ego-motion":[63],"accuracy.":[64],"To":[65],"address":[66],"realistic":[68],"scenario":[69],"where":[70],"good":[72],"prior":[73],"knowledge":[74],"motion":[78,173],"is":[80,178,185],"not":[81,99],"available,":[82],"design":[84],"new":[86],"based":[88],"Schmidt-Kalman":[91],"Filter":[92],"(SKF),":[93],"which":[95],"target":[96,119,126,172],"measurements":[97,138],"do":[98],"update":[100,125],"navigation":[102],"states,":[103],"however":[104],"all":[105],"correlations":[106],"are":[107],"still":[108],"properly":[109],"tracked.":[110],"This":[111],"allows":[112],"both":[114],"consistent":[115],"modeling":[116],"errors":[120],"ability":[123],"estimates":[127],"whenever":[128],"tracking":[130,194],"sensor":[131],"receives":[132],"non-target":[133],"data":[134],"bearing":[137],"static,":[140],"3D":[141],"environmental":[142],"features.":[143],"We":[144],"extensive":[147],"simulation":[148],"system,":[151],"along":[152],"with":[153],"robot-centric":[155],"representation":[156],"target,":[159],"leads":[160],"robust":[162],"even":[165],"presence":[168],"an":[170],"model.":[174],"Finally,":[175],"validated":[179],"real-world":[182],"experiment,":[183],"shown":[186],"offer":[188],"accurate":[189],"performance.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
