{"id":"https://openalex.org/W3206477725","doi":"https://doi.org/10.1109/icra48506.2021.9560767","title":"IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving","display_name":"IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206477725","doi":"https://doi.org/10.1109/icra48506.2021.9560767","mag":"3206477725"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5056142465","display_name":"Zhenbo Liu","orcid":"https://orcid.org/0000-0002-3762-9529"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210153212","display_name":"Noah's Path","ror":"https://ror.org/05wv5ps25","country_code":"ES","type":"healthcare","lineage":["https://openalex.org/I4210153212"]},{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["CN","ES","SE"],"is_corresponding":false,"raw_author_name":"Zhenbo Liu","raw_affiliation_strings":["Noah’s Ark Lab, Huawei, Beijing, China","Noah&#x2019","s Ark Lab, Huawei, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah’s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I4210159102"]},{"raw_affiliation_string":"Noah&#x2019","institution_ids":["https://openalex.org/I4210153212"]},{"raw_affiliation_string":"s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101914663","display_name":"Leijie Wang","orcid":"https://orcid.org/0009-0007-2441-6018"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210153212","display_name":"Noah's Path","ror":"https://ror.org/05wv5ps25","country_code":"ES","type":"healthcare","lineage":["https://openalex.org/I4210153212"]},{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["CN","ES","SE"],"is_corresponding":false,"raw_author_name":"Leijie Wang","raw_affiliation_strings":["Noah’s Ark Lab, Huawei, Beijing, China","s Ark Lab, Huawei, Beijing, China","Noah&#x2019"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah’s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I4210159102"]},{"raw_affiliation_string":"s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Noah&#x2019","institution_ids":["https://openalex.org/I4210153212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034468581","display_name":"Feng Wen","orcid":"https://orcid.org/0000-0001-7536-638X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210153212","display_name":"Noah's Path","ror":"https://ror.org/05wv5ps25","country_code":"ES","type":"healthcare","lineage":["https://openalex.org/I4210153212"]},{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["CN","ES","SE"],"is_corresponding":false,"raw_author_name":"Feng Wen","raw_affiliation_strings":["Noah’s Ark Lab, Huawei, Beijing, China","Noah&#x2019","s Ark Lab, Huawei, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah’s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I4210159102"]},{"raw_affiliation_string":"Noah&#x2019","institution_ids":["https://openalex.org/I4210153212"]},{"raw_affiliation_string":"s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001004189","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0000-0002-3866-7711"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210153212","display_name":"Noah's Path","ror":"https://ror.org/05wv5ps25","country_code":"ES","type":"healthcare","lineage":["https://openalex.org/I4210153212"]},{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["CN","ES","SE"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Noah’s Ark Lab, Huawei, Beijing, China","Noah&#x2019","s Ark Lab, Huawei, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah’s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I4210159102"]},{"raw_affiliation_string":"Noah&#x2019","institution_ids":["https://openalex.org/I4210153212"]},{"raw_affiliation_string":"s Ark Lab, Huawei, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5917,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9647389,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4013","last_page":"4019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8069568872451782},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.739960253238678},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6171879768371582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5956611633300781},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5067151188850403},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.45252954959869385},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44184610247612},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43728792667388916},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40555518865585327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3716694414615631},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3645610511302948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2686261534690857},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17738103866577148},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13501831889152527}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8069568872451782},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.739960253238678},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6171879768371582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5956611633300781},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5067151188850403},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.45252954959869385},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44184610247612},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43728792667388916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40555518865585327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3716694414615631},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3645610511302948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2686261534690857},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17738103866577148},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13501831889152527},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4399999976158142,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1970329928","https://openalex.org/W1998058414","https://openalex.org/W2001079686","https://openalex.org/W2017088761","https://openalex.org/W2021503353","https://openalex.org/W2035179658","https://openalex.org/W2057237438","https://openalex.org/W2065705527","https://openalex.org/W2111535872","https://openalex.org/W2113101950","https://openalex.org/W2140924050","https://openalex.org/W2150235509","https://openalex.org/W2295149141","https://openalex.org/W2592770378","https://openalex.org/W2770841999","https://openalex.org/W2770866044","https://openalex.org/W2794309357","https://openalex.org/W2803993251","https://openalex.org/W2804588044","https://openalex.org/W2897418965","https://openalex.org/W2909028705","https://openalex.org/W2920681915","https://openalex.org/W2946088198","https://openalex.org/W3103406720","https://openalex.org/W3113083443","https://openalex.org/W6676935788","https://openalex.org/W6758451544","https://openalex.org/W6787807364"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W3157641275","https://openalex.org/W2517338020","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W2098782634","https://openalex.org/W2545638156"],"abstract_inverted_index":{"The":[0,21,48,179],"localization":[1,58,145,177],"system,":[2,33],"which":[3,117,147],"outputs":[4],"vehicle":[5,127,189],"position,":[6],"velocity,":[7],"and":[8,31,46,51,68,124,164,171],"attitude,":[9],"is":[10,24,72,118,128],"one":[11,73],"of":[12,74,136,181],"the":[13,17,29,40,57,63,75,84,87,95,108,126,134,137,144,156,176,188],"fundamental":[14],"components":[15],"in":[16,155],"autonomous":[18],"driving":[19],"vehicle.":[20],"global":[22],"pose":[23],"not":[25],"only":[26],"used":[27],"for":[28,39,56],"planning":[30],"control":[32],"but":[34],"also":[35],"an":[36,166],"important":[37],"reference":[38],"cloud":[41],"source-based":[42],"HD":[43],"Map":[44],"building":[45],"updating.":[47],"accuracy,":[49],"availability,":[50],"reliability":[52],"are":[53],"key":[54],"requirements":[55],"system":[59,65,146],"to":[60,83,174],"ensure":[61],"that":[62,78],"whole":[64],"runs":[66],"smoothly":[67],"efficiently.IMU/Vehicle":[69],"extrinsic":[70],"calibration":[71,98,170],"primary":[76],"jobs":[77],"should":[79],"be":[80,92],"addressed.":[81],"Due":[82],"observability":[85],"issue,":[86],"IMU/vehicle":[88],"relative":[89],"roll":[90],"cannot":[91],"calibrated":[93],"by":[94,120,187],"traditional":[96],"maneuver-based":[97],"method.":[99],"In":[100],"this":[101,105],"paper,":[102],"we":[103],"solve":[104],"issue":[106],"with":[107],"proposed":[109,182],"Multiple":[110],"Orientation-based":[111],"Vehicle/IMU":[112],"Extrinsic":[113],"Calibration":[114],"(MOVIE-Cali)":[115],"method,":[116],"evaluated":[119,186],"Monte":[121],"Carlo":[122],"simulations":[123],"experiments.When":[125],"cornering":[129],"or":[130],"making":[131],"a":[132,160],"U-turn,":[133],"sideslip":[135,161],"tires":[138],"will":[139],"have":[140],"negative":[141],"influence":[142],"on":[143],"uses":[148],"Non-Holonomic":[149],"Constraints":[150],"(NHC)/Wheel":[151],"speed":[152],"sensor":[153],"measurement":[154],"model.":[157],"We":[158],"derive":[159],"angle":[162],"model":[163],"propose":[165],"online":[167],"slip":[168],"parameter":[169],"compensation":[172],"method":[173,183],"improve":[175],"accuracy.":[178],"performance":[180],"has":[184],"been":[185],"tests.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}