{"id":"https://openalex.org/W4285102487","doi":"https://doi.org/10.1109/icra46639.2022.9811989","title":"Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data","display_name":"Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102487","doi":"https://doi.org/10.1109/icra46639.2022.9811989"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811989","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/A5058140409","display_name":"Jan Steinbrener","orcid":"https://orcid.org/0000-0002-2465-2527"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Jan Steinbrener","raw_affiliation_strings":["Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068613728","display_name":"Christian Brommer","orcid":"https://orcid.org/0000-0002-2801-2172"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Brommer","raw_affiliation_strings":["Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062765417","display_name":"Thomas Jantos","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Thomas Jantos","raw_affiliation_strings":["Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088855536","display_name":"Alessandro Fornasier","orcid":"https://orcid.org/0000-0002-1774-3236"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Alessandro Fornasier","raw_affiliation_strings":["Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems group, Universit&#x00E4;t Klagenfurt,Klagenfurt,Austria,9020","institution_ids":["https://openalex.org/I4210166741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058140409"],"corresponding_institution_ids":["https://openalex.org/I4210166741"],"apc_list":null,"apc_paid":null,"fwci":3.6351,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.95136727,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6084","last_page":"6090"},"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":0.9986000061035156,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8416982293128967},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.7544090747833252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6952254772186279},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5217108130455017},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5146363973617554},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4759347438812256},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.4572365880012512},{"id":"https://openalex.org/keywords/data-pre-processing","display_name":"Data pre-processing","score":0.45546066761016846},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4380272626876831},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.42283928394317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41999754309654236},{"id":"https://openalex.org/keywords/propagation-delay","display_name":"Propagation delay","score":0.4166856110095978},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3297162353992462}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8416982293128967},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.7544090747833252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6952254772186279},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5217108130455017},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5146363973617554},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4759347438812256},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.4572365880012512},{"id":"https://openalex.org/C10551718","wikidata":"https://www.wikidata.org/wiki/Q5227332","display_name":"Data pre-processing","level":2,"score":0.45546066761016846},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4380272626876831},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.42283928394317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41999754309654236},{"id":"https://openalex.org/C90806461","wikidata":"https://www.wikidata.org/wiki/Q1144416","display_name":"Propagation delay","level":2,"score":0.4166856110095978},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3297162353992462},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811989","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/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1998058414","https://openalex.org/W2049750053","https://openalex.org/W2064675550","https://openalex.org/W2118223742","https://openalex.org/W2132453268","https://openalex.org/W2745859992","https://openalex.org/W2768018028","https://openalex.org/W2896457183","https://openalex.org/W2896474691","https://openalex.org/W2909930119","https://openalex.org/W2936887342","https://openalex.org/W2986242474","https://openalex.org/W3003494598","https://openalex.org/W3012888745","https://openalex.org/W3025126338","https://openalex.org/W3036812332","https://openalex.org/W3048916294","https://openalex.org/W3090657511","https://openalex.org/W3093065546","https://openalex.org/W3101252417","https://openalex.org/W3111025201","https://openalex.org/W3111404747","https://openalex.org/W3160050461","https://openalex.org/W3173631815","https://openalex.org/W3201189310","https://openalex.org/W3207392858","https://openalex.org/W3207693450","https://openalex.org/W4385245566","https://openalex.org/W6677871018","https://openalex.org/W6739901393"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4313886815","https://openalex.org/W2773722138","https://openalex.org/W2038183074","https://openalex.org/W2024522858","https://openalex.org/W2018064886"],"abstract_inverted_index":{"We":[0,28],"present":[1],"a":[2,16,37,81,104],"novel":[3],"approach":[4,33],"to":[5,66,91,96,126],"improve":[6],"6":[7],"degree-of-freedom":[8],"state":[9,77],"propagation":[10,78,106,156,162],"for":[11,99,113,159],"unmanned":[12],"aerial":[13],"vehicles":[14],"in":[15,68],"classical":[17,82],"filter":[18,83],"through":[19],"pre-processing":[20],"of":[21,48,52,80,108],"high-speed":[22],"inertial":[23,54,59],"data":[24,55,130,137],"with":[25],"AI":[26],"algorithms.":[27],"evaluate":[29],"both":[30],"an":[31,58],"LSTM-based":[32],"as":[34,36,44],"well":[35],"Transformer":[38,149],"encoder":[39,150],"architecture.":[40],"Both":[41],"algorithms":[42],"take":[43],"input":[45,129],"short":[46],"sequences":[47],"fixed":[49],"length":[50],"N":[51],"high-rate":[53],"provided":[56],"by":[57],"measurement":[60],"unit":[61],"(IMU)":[62],"and":[63,152],"are":[64,124],"trained":[65],"predict":[67],"turn":[69],"one":[70],"pre-processed":[71,109],"IMU":[72,110,161],"sample":[73],"that":[74,142],"minimizes":[75],"the":[76,97,143,148,155],"error":[79,157],"across":[84],"M":[85],"sequences.":[86],"This":[87],"setup":[88],"allows":[89],"us":[90],"provide":[92],"sufficient":[93],"temporal":[94],"history":[95],"networks":[98],"good":[100],"performance":[101],"while":[102],"maintaining":[103],"high":[105],"rate":[107],"samples":[111],"important":[112],"later":[114],"deployment":[115],"on":[116],"real-world":[117],"systems.":[118],"In":[119],"addition,":[120],"our":[121],"network":[122],"architectures":[123],"formulated":[125],"directly":[127],"accept":[128],"at":[131],"variable":[132],"rates":[133],"thus":[134],"minimizing":[135],"necessary":[136],"preprocessing.":[138],"The":[139],"results":[140],"indicate":[141],"LSTM":[144],"based":[145],"architecture":[146,151],"outperforms":[147],"significantly":[153],"improves":[154],"even":[158],"long":[160],"times.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
