{"id":"https://openalex.org/W4285102211","doi":"https://doi.org/10.1109/icra46639.2022.9811641","title":"Integrating Point and Line Features for Visual-Inertial Initialization","display_name":"Integrating Point and Line Features for Visual-Inertial Initialization","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102211","doi":"https://doi.org/10.1109/icra46639.2022.9811641"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5100410326","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-7498-6541"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School"],"affiliations":[{"raw_affiliation_string":"Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067191498","display_name":"Junyin Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyin Qiu","raw_affiliation_strings":["Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School"],"affiliations":[{"raw_affiliation_string":"Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036081371","display_name":"Weibo Huang","orcid":"https://orcid.org/0000-0002-9583-1944"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibo Huang","raw_affiliation_strings":["Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School"],"affiliations":[{"raw_affiliation_string":"Peking University, Shenzhen Graduate School,Key Laboratory of Machine Perception","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100410326"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":1.387,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81551513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9470","last_page":"9476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.9535460472106934},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7050991058349609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6802555918693542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5734075903892517},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5330711007118225},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5307443141937256},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5051699280738831},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4801151752471924},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4744616150856018},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.42936092615127563},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34538793563842773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22149699926376343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10762801766395569},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10238125920295715}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9535460472106934},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7050991058349609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6802555918693542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5734075903892517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5330711007118225},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5307443141937256},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5051699280738831},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4801151752471924},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4744616150856018},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.42936092615127563},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34538793563842773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22149699926376343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10762801766395569},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10238125920295715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G2682340759","display_name":null,"funder_award_id":"62073004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1969726450","https://openalex.org/W1998058414","https://openalex.org/W2008849352","https://openalex.org/W2057488855","https://openalex.org/W2068341180","https://openalex.org/W2118877769","https://openalex.org/W2314596443","https://openalex.org/W2396274919","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2590327367","https://openalex.org/W2610417264","https://openalex.org/W2668740750","https://openalex.org/W2768130891","https://openalex.org/W2773447888","https://openalex.org/W2796916234","https://openalex.org/W2890376682","https://openalex.org/W2963200201","https://openalex.org/W2971234095","https://openalex.org/W3007245826","https://openalex.org/W3084805320","https://openalex.org/W3091592533","https://openalex.org/W3100279521","https://openalex.org/W3125449081","https://openalex.org/W3126451697","https://openalex.org/W3134645204","https://openalex.org/W3154054510","https://openalex.org/W3179449812","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6783104634"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W1889129279","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W4387451989","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W4389650576"],"abstract_inverted_index":{"Accurate":[0],"and":[1,46,87,120,152,157,170,177,187],"robust":[2],"initialization":[3,20,82,181],"is":[4,97,102,138],"crucial":[5],"in":[6,38,52,70,74,162,180],"visual-inertial":[7,81],"system,":[8],"which":[9,101,140],"significantly":[10],"affects":[11],"the":[12,17,31],"localization":[13],"accuracy.":[14],"Most":[15],"of":[16,33,94,142],"existing":[18],"feature-based":[19],"methods":[21,35],"rely":[22],"on":[23,167],"point":[24,42,86,118,176],"features":[25,43,96,179],"to":[26,107,130],"estimate":[27],"initial":[28,115],"parameters.":[29],"However,":[30],"performance":[32],"these":[34,132],"often":[36],"decreases":[37],"real":[39],"scene,":[40],"as":[41],"are":[44,66,160],"unstable":[45],"may":[47],"be":[48,125],"discontinuously":[49],"observed":[50],"especially":[51],"low":[53],"textured":[54],"environments.":[55],"By":[56],"contrast,":[57],"line":[58,88,95,178],"features,":[59],"providing":[60],"richer":[61],"geometrical":[62],"information":[63],"than":[64],"points,":[65],"also":[67],"very":[68],"common":[69],"man-made":[71],"buildings.":[72],"Thereby,":[73],"this":[75],"paper,":[76],"we":[77],"propose":[78],"a":[79,91,134],"novel":[80,144],"method":[83,93,106,137],"integrating":[84,175],"both":[85,168],"features.":[89],"Specifically,":[90],"closed-form":[92],"presented":[98],"for":[99,149],"initialization,":[100],"combined":[103],"with":[104,191],"point-based":[105,193],"build":[108],"an":[109],"integrated":[110],"linear":[111],"system.":[112],"Parameters":[113],"including":[114],"velocity,":[116],"gravity,":[117],"depth":[119,123],"line's":[121],"endpoints":[122],"can":[124,183],"jointly":[126],"solved":[127],"out.":[128],"Furthermore,":[129],"refine":[131],"parameters,":[133],"global":[135],"optimization":[136],"proposed,":[139],"consists":[141],"two":[143],"nonlinear":[145],"least":[146],"squares":[147],"problems":[148],"respective":[150],"points":[151],"lines.":[153],"Both":[154],"gravity":[155],"magnitude":[156],"gyroscope":[158],"bias":[159],"considered":[161],"refinement.":[163],"Extensive":[164],"experimental":[165],"results":[166],"simulated":[169],"public":[171],"datasets":[172],"show":[173],"that":[174],"stage":[182],"achieve":[184],"higher":[185],"accuracy":[186],"better":[188],"robustness":[189],"compared":[190],"pure":[192],"methods.":[194]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}